+ python -m lidar_slam --result /working/result.json --no-model /working/656bf4ad-117b-411f-8e6d-11390ced8143 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/656bf4ad-117b-411f-8e6d-11390ced8143 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 0.000281693 Adjusted end_distance from 9.223372036854776e+18 to 472.290281693 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.000281693 meters Centerline goodness : 0.690412 with order 3 Centerline is valid? [0, False] SLAMing on 0.060281693 meters Centerline goodness : 0.512769 with order 3 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.00 [[ 9.99985745e-01 -5.31715956e-03 4.86660557e-04 5.33572005e-04] [ 5.31937337e-03 9.99974963e-01 -4.66672512e-03 4.01961375e-03] [-4.61834651e-04 4.66924732e-03 9.99988992e-01 2.06788015e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.120281693 meters Centerline goodness : 0.538650 with order 3 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99942549e-01 -1.06819703e-02 8.91429408e-04 2.36655655e-03] [ 1.06892188e-02 9.99906171e-01 -8.56679944e-03 -8.30673475e-04] [-7.99835469e-04 8.57583595e-03 9.99962907e-01 -9.05923288e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.180281693 meters Centerline goodness : 0.361678 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.00 [[ 0.99988178 -0.01380976 0.00676092 0.04135753] [ 0.01386612 0.99986889 -0.00836204 -0.01173109] [-0.00664456 0.0084548 0.99994218 -0.0019763 ] [ 0. 0. 0. 1. ]] SLAMing on 0.240281693 meters Centerline goodness : 0.462402 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.00 [[ 0.9998775 -0.01335551 0.00816201 0.04067962] [ 0.01341208 0.99988614 -0.00691499 -0.02407194] [-0.00806872 0.00702361 0.99994278 -0.00256773] [ 0. 0. 0. 1. ]] SLAMing on 0.300281693 meters Centerline goodness : 0.469407 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:-0.00 [[ 0.99992056 -0.0090324 0.00879172 0.04118172] [ 0.0090481 0.99995754 -0.00174751 -0.03360443] [-0.00877556 0.00182692 0.99995983 -0.00296403] [ 0. 0. 0. 1. ]] SLAMing on 0.360281693 meters Centerline goodness : 0.478363 with order 1 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.05, Z:-0.00 [[ 9.99980063e-01 -3.10874964e-03 5.49628326e-03 6.63277915e-02] [ 3.11350530e-03 9.99994786e-01 -8.56905285e-04 -4.62610333e-02] [-5.49359070e-03 8.74000908e-04 9.99984528e-01 -3.13218740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.420281693 meters Centerline goodness : 0.404013 with order 2 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.05, Z:-0.01 [[ 9.99988722e-01 -8.64402412e-04 4.67002413e-03 8.11508895e-02] [ 8.60521342e-04 9.99999283e-01 8.33005360e-04 -5.39367247e-02] [-4.67074083e-03 -8.28977310e-04 9.99988748e-01 -1.28465166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.480281693 meters Centerline goodness : 0.486997 with order 1 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.06, Z:-0.02 [[ 9.99990523e-01 3.13728985e-04 4.34220786e-03 8.68379066e-02] [-3.22273413e-04 9.99998013e-01 1.96720143e-03 -6.16300492e-02] [-4.34158207e-03 -1.96858216e-03 9.99988638e-01 -1.65409112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5402816930000001 meters Centerline goodness : 0.368856 with order 2 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.07, Z:-0.02 [[ 0.99999008 0.0018122 0.00406954 0.09811821] [-0.00182611 0.9999925 0.00341545 -0.06995186] [-0.00406332 -0.00342285 0.99998589 -0.02457297] [ 0. 0. 0. 1. ]] SLAMing on 0.600281693 meters Centerline goodness : 0.481818 with order 1 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.08, Z:-0.03 [[ 0.9999885 0.00305848 0.00369473 0.10436525] [-0.00307463 0.99998571 0.00437354 -0.07564949] [-0.0036813 -0.00438485 0.99998361 -0.02804803] [ 0. 0. 0. 1. ]] SLAMing on 0.660281693 meters Centerline goodness : 0.414227 with order 2 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.08, Z:-0.04 [[ 0.99995867 0.0085736 0.00302377 0.11792722] [-0.00860142 0.99991964 0.0093125 -0.08350788] [-0.00294368 -0.00933812 0.99995207 -0.03643266] [ 0. 0. 0. 1. ]] SLAMing on 0.720281693 meters Centerline goodness : 0.496351 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.08, Z:-0.04 [[ 0.99993346 0.01127427 0.0024422 0.12652069] [-0.01129881 0.99988334 0.01027856 -0.08178749] [-0.00232603 -0.01030547 0.99994419 -0.0417219 ] [ 0. 0. 0. 1. ]] SLAMing on 0.780281693 meters Centerline goodness : 0.492345 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.08, Z:-0.05 [[ 0.99991007 0.01331075 0.00163592 0.13585272] [-0.01332748 0.99985415 0.01068004 -0.08081348] [-0.00149353 -0.01070088 0.99994163 -0.04709739] [ 0. 0. 0. 1. ]] SLAMing on 0.840281693 meters Centerline goodness : 0.483707 with order 2 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.08, Z:-0.05 [[ 0.9998838 0.01519307 0.00125167 0.14599269] [-0.01520591 0.99982408 0.01098117 -0.07633204] [-0.00108461 -0.01099892 0.99993892 -0.05371514] [ 0. 0. 0. 1. ]] SLAMing on 0.9002816929999999 meters Centerline goodness : 0.489833 with order 2 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.07, Z:-0.05 [[ 0.99987414 0.01572741 0.00208665 0.14829198] [-0.01574777 0.99982469 0.0101294 -0.06791849] [-0.00192697 -0.01016099 0.99994652 -0.05497977] [ 0. 0. 0. 1. ]] SLAMing on 0.960281693 meters Centerline goodness : 0.475323 with order 3 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.06, Z:-0.06 [[ 0.99987168 0.01583573 0.00241779 0.15012577] [-0.0158575 0.99983129 0.00927013 -0.06122033] [-0.00227059 -0.00930728 0.99995411 -0.05502254] [ 0. 0. 0. 1. ]] SLAMing on 1.020281693 meters Centerline goodness : 0.484680 with order 2 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.05, Z:-0.06 [[ 0.99980024 0.01980425 0.00269688 0.15496899] [-0.01983553 0.99972992 0.01210923 -0.05316155] [-0.00245634 -0.0121603 0.99992304 -0.0577627 ] [ 0. 0. 0. 1. ]] SLAMing on 1.080281693 meters Centerline goodness : 0.413869 with order 2 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.04, Z:-0.06 [[ 0.9997735 0.02114243 0.00243663 0.1645294 ] [-0.02116915 0.99970956 0.01151824 -0.04284736] [-0.0021924 -0.01156721 0.99993069 -0.06356719] [ 0. 0. 0. 1. ]] SLAMing on 1.140281693 meters Centerline goodness : 0.061017 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.04, Z:-0.07 [[ 0.9997946 0.02015112 0.00216523 0.17440452] [-0.02017294 0.99974051 0.01058115 -0.03896211] [-0.00195145 -0.01062265 0.99994167 -0.06950408] [ 0. 0. 0. 1. ]] SLAMing on 1.200281693 meters Centerline goodness : 0.423178 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:-0.07 [[ 0.99985613 0.01690694 0.00137045 0.18337989] [-0.01691578 0.99983434 0.00671896 -0.03446231] [-0.00125663 -0.00674117 0.99997649 -0.07440633] [ 0. 0. 0. 1. ]] SLAMing on 1.260281693 meters Centerline goodness : 0.415821 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.03, Z:-0.08 [[ 9.99906271e-01 1.36801454e-02 5.50154128e-04 1.95219434e-01] [-1.36816700e-02 9.99902282e-01 2.87018239e-03 -3.02860232e-02] [-5.10835856e-04 -2.87744039e-03 9.99995730e-01 -8.06186397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3202816929999999 meters Centerline goodness : 0.381391 with order 2 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.03, Z:-0.08 [[ 9.99904052e-01 1.38506910e-02 2.14666427e-04 2.00705720e-01] [-1.38512220e-02 9.99900397e-01 2.70910484e-03 -2.86047283e-02] [-1.77122072e-04 -2.71181830e-03 9.99996307e-01 -8.33977583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.380281693 meters Centerline goodness : 0.369370 with order 2 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:-0.09 [[ 9.99891504e-01 1.47022757e-02 -9.07611436e-04 2.16328255e-01] [-1.46997317e-02 9.99888175e-01 2.74874493e-03 -2.70744845e-02] [ 9.47922748e-04 -2.73510506e-03 9.99995810e-01 -9.25207954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.440281693 meters Centerline goodness : 0.386658 with order 2 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.03, Z:-0.10 [[ 9.99927523e-01 1.19437463e-02 -1.51535076e-03 2.25554350e-01] [-1.19449720e-02 9.99928334e-01 -8.02386216e-04 -2.65277686e-02] [ 1.50565866e-03 8.20428884e-04 9.99998530e-01 -9.67716497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.500281693 meters Centerline goodness : 0.412409 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.03, Z:-0.10 [[ 9.99935500e-01 1.05461766e-02 4.21585249e-03 2.69961073e-01] [-1.05437478e-02 9.99944234e-01 -5.97921198e-04 -2.96246212e-02] [-4.22192318e-03 5.53431747e-04 9.99990934e-01 -1.01719646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.560281693 meters Centerline goodness : 0.305978 with order 2 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.03, Z:-0.10 [[ 9.99944505e-01 9.74640353e-03 3.99924078e-03 2.77234046e-01] [-9.74427280e-03 9.99952371e-01 -5.51924122e-04 -3.41800322e-02] [-4.00442958e-03 5.12923800e-04 9.99991851e-01 -1.04445378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.620281693 meters Centerline goodness : 0.288940 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.04, Z:-0.10 [[ 9.99940186e-01 1.01171302e-02 4.15547735e-03 2.79251714e-01] [-1.01156296e-02 9.99948763e-01 -3.81957883e-04 -3.55450827e-02] [-4.15912876e-03 3.39899767e-04 9.99991293e-01 -1.04063478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.680281693 meters Centerline goodness : 0.250796 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.04, Z:-0.09 [[ 9.99932146e-01 1.13485122e-02 -2.62962407e-03 3.23500977e-01] [-1.13495679e-02 9.99935517e-01 -3.86884726e-04 -3.56691372e-02] [ 2.62506393e-03 4.16703571e-04 9.99996468e-01 -9.37065238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.740281693 meters Centerline goodness : 0.143771 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.03, Z:-0.09 [[ 9.99933188e-01 1.12440625e-02 -2.68147506e-03 3.28631695e-01] [-1.12456361e-02 9.99936602e-01 -5.72480021e-04 -3.43498798e-02] [ 2.67486806e-03 6.02596665e-04 9.99996241e-01 -9.48315170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8002816929999998 meters Centerline goodness : 0.324007 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.03, Z:-0.10 [[ 9.99932782e-01 1.12294806e-02 -2.88620180e-03 3.32934117e-01] [-1.12314023e-02 9.99936714e-01 -6.50491684e-04 -3.40824208e-02] [ 2.87871446e-03 6.82864053e-04 9.99995623e-01 -9.60016695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.860281693 meters Centerline goodness : 0.105825 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.03, Z:-0.10 [[ 0.99993807 0.01050135 -0.0036835 0.34487918] [-0.01050562 0.99994416 -0.00114038 -0.03155001] [ 0.00367132 0.00117901 0.99999257 -0.10163215] [ 0. 0. 0. 1. ]] SLAMing on 1.920281693 meters Centerline goodness : 0.315846 with order 1 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.02, Z:-0.10 [[ 9.99942452e-01 6.67155791e-03 -8.40135748e-03 3.79433736e-01] [-6.67675161e-03 9.99977536e-01 -5.90302018e-04 -2.49511441e-02] [ 8.39723052e-03 6.46361825e-04 9.99964534e-01 -1.01705868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.980281693 meters Centerline goodness : 0.343102 with order 2 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.02, Z:-0.11 [[ 0.99993505 0.00685714 -0.00910356 0.39159537] [-0.00686706 0.99997586 -0.00105853 -0.01890084] [ 0.00909608 0.00112098 0.999958 -0.10743874] [ 0. 0. 0. 1. ]] SLAMing on 2.040281693 meters Centerline goodness : 0.076700 with order 2 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.02, Z:-0.11 [[ 0.99993422 0.00668298 -0.00932192 0.39591167] [-0.00669339 0.99997701 -0.0010852 -0.01907258] [ 0.00931445 0.00114752 0.99995596 -0.10839472] [ 0. 0. 0. 1. ]] SLAMing on 2.100281693 meters SLAMing on 2.160281693 meters Centerline goodness : 0.132342 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.02, Z:-0.12 [[ 0.9999305 0.00571205 -0.01031299 0.41302942] [-0.00572668 0.99998264 -0.00138948 -0.01934575] [ 0.01030488 0.00144844 0.99994585 -0.11511382] [ 0. 0. 0. 1. ]] SLAMing on 2.2202816929999996 meters Centerline goodness : 0.131270 with order 1 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.02, Z:-0.12 [[ 9.99974522e-01 5.79380355e-03 -4.16972358e-03 4.61186005e-01] [-5.79705906e-03 9.99982901e-01 -7.69087318e-04 -1.90612591e-02] [ 4.16519634e-03 7.93239857e-04 9.99991011e-01 -1.21989572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2802816929999996 meters Centerline goodness : 0.128974 with order 1 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.02, Z:-0.13 [[ 9.99973956e-01 5.48562485e-03 -4.68980842e-03 4.72625090e-01] [-5.48953338e-03 9.99984595e-01 -8.20943237e-04 -2.05874573e-02] [ 4.68523279e-03 8.46666717e-04 9.99988666e-01 -1.27031403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3402816929999997 meters SLAMing on 2.4002816929999997 meters Centerline goodness : 0.135382 with order 1 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.02, Z:-0.13 [[ 9.99968394e-01 5.24660248e-03 -5.97354194e-03 4.91907116e-01] [-5.25109558e-03 9.99985942e-01 -7.36731193e-04 -2.16788052e-02] [ 5.96959262e-03 7.68075548e-04 9.99981887e-01 -1.34755254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4602816929999998 meters Centerline goodness : 0.066774 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:-0.14 [[ 9.99967030e-01 4.16229023e-03 -6.97237424e-03 5.04651063e-01] [-4.16748977e-03 9.99991049e-01 -7.31371615e-04 -2.37477455e-02] [ 6.96926765e-03 7.60404800e-04 9.99975425e-01 -1.40054989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.520281693 meters SLAMing on 2.580281693 meters Centerline goodness : 0.495035 with order 2 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.02, Z:-0.15 [[ 9.99960921e-01 3.35983735e-03 -8.17729375e-03 5.25068238e-01] [-3.36787545e-03 9.99993859e-01 -9.69406800e-04 -2.49659695e-02] [ 8.17398648e-03 9.96909023e-04 9.99966095e-01 -1.48190797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6402816929999995 meters SLAMing on 2.7002816929999995 meters SLAMing on 2.7602816929999996 meters SLAMing on 2.8202816929999996 meters SLAMing on 2.8802816929999997 meters Centerline goodness : 0.275957 with order 1 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.00, Z:-0.16 [[ 0.99983439 0.01805274 -0.00230165 0.70953258] [-0.0180574 0.99983491 -0.00202039 -0.00422282] [ 0.0022648 0.00206162 0.99999531 -0.1556187 ] [ 0. 0. 0. 1. ]] SLAMing on 2.9402816929999998 meters Centerline goodness : 0.169356 with order 1 Centerline is valid? [False, False] Translation: X:0.72, Y:0.01, Z:-0.16 [[ 0.99980454 0.01948312 -0.0033597 0.72335774] [-0.0194931 0.99980559 -0.00296578 0.01135983] [ 0.00330126 0.00303069 0.99998996 -0.16195165] [ 0. 0. 0. 1. ]] SLAMing on 3.000281693 meters Centerline goodness : 0.170378 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:0.02, Z:-0.17 [[ 0.99982447 0.01854117 0.00269275 0.77059573] [-0.01853154 0.99982195 -0.00355744 0.022121 ] [-0.00275823 0.00350691 0.99999005 -0.16902948] [ 0. 0. 0. 1. ]] SLAMing on 3.060281693 meters Centerline goodness : 0.098043 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:0.03, Z:-0.16 [[ 0.99990743 0.01356303 -0.00108433 0.79421366] [-0.0135664 0.99990296 -0.00316616 0.03065991] [ 0.00104128 0.00318058 0.9999944 -0.16498773] [ 0. 0. 0. 1. ]] SLAMing on 3.120281693 meters Centerline goodness : 0.175633 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:0.04, Z:-0.16 [[ 0.99996223 0.00692997 -0.00524454 0.82499532] [-0.00694254 0.99997306 -0.00238195 0.03575479] [ 0.00522789 0.00241827 0.99998341 -0.16303956] [ 0. 0. 0. 1. ]] SLAMing on 3.1802816929999995 meters Centerline goodness : 0.095501 with order 1 Centerline is valid? [False, False] Translation: X:0.84, Y:0.04, Z:-0.17 [[ 0.9999756 0.00165057 -0.00678786 0.84060717] [-0.00169737 0.99997478 -0.00689568 0.03806122] [ 0.00677631 0.00690703 0.99995319 -0.17006103] [ 0. 0. 0. 1. ]] SLAMing on 3.2402816929999996 meters Centerline goodness : 0.120783 with order 3 Centerline is valid? [False, False] Translation: X:0.85, Y:0.03, Z:-0.18 [[ 0.99996083 -0.00381828 -0.00798539 0.8540772 ] [ 0.00373247 0.99993543 -0.01073329 0.0326045 ] [ 0.00802586 0.01070306 0.99991051 -0.17566271] [ 0. 0. 0. 1. ]] SLAMing on 3.3002816929999996 meters Centerline goodness : 0.112531 with order 1 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.18 [[ 0.99993185 -0.00820164 -0.00830857 0.86051998] [ 0.00808628 0.99987174 -0.01382421 0.02389047] [ 0.00842088 0.01375608 0.99986992 -0.17660996] [ 0. 0. 0. 1. ]] SLAMing on 3.3602816929999997 meters SLAMing on 3.4202816929999997 meters Centerline goodness : 0.110521 with order 1 Centerline is valid? [False, False] Translation: X:0.89, Y:0.00, Z:-0.17 [[ 0.99982531 -0.01516041 -0.01093258 0.88736434] [ 0.01505552 0.99984045 -0.00961307 0.00499573] [ 0.01107657 0.00944679 0.99989403 -0.16966512] [ 0. 0. 0. 1. ]] SLAMing on 3.480281693 meters Centerline goodness : 0.098044 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.01, Z:-0.18 [[ 0.99985735 -0.01617839 -0.0048513 0.93259408] [ 0.0161436 0.99984428 -0.00712714 -0.01276652] [ 0.00496585 0.0070478 0.99996283 -0.17820235] [ 0. 0. 0. 1. ]] SLAMing on 3.540281693 meters Centerline goodness : 0.111975 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.03, Z:-0.18 [[ 0.99987575 -0.01486206 -0.00525337 0.93872859] [ 0.01483417 0.99987588 -0.00530852 -0.02537297] [ 0.00533161 0.00522993 0.99997211 -0.17966507] [ 0. 0. 0. 1. ]] SLAMing on 3.6002816929999994 meters Centerline goodness : 0.100389 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.03, Z:-0.18 [[ 0.99993173 -0.01148944 0.00212557 0.97828409] [ 0.0114938 0.99993185 -0.00204747 -0.03481644] [-0.0021019 0.00207176 0.99999564 -0.18296369] [ 0. 0. 0. 1. ]] SLAMing on 3.6602816929999995 meters Centerline goodness : 0.109654 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.04, Z:-0.18 [[ 9.99944076e-01 -1.04653645e-02 1.52374005e-03 9.83541533e-01] [ 1.04668933e-02 9.99944722e-01 -9.98772590e-04 -4.11258241e-02] [-1.51320330e-03 1.01466556e-03 9.99998340e-01 -1.83916110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7202816929999996 meters Centerline goodness : 0.111260 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.04, Z:-0.18 [[ 9.99950620e-01 -9.88187543e-03 1.05139067e-03 9.86755455e-01] [ 9.88236815e-03 9.99951060e-01 -4.64481921e-04 -4.40176978e-02] [-1.04674926e-03 4.74849215e-04 9.99999339e-01 -1.84317635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7802816929999996 meters Centerline goodness : 0.161759 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.05, Z:-0.18 [[ 0.99999045 -0.0034997 -0.00261713 1.01255477] [ 0.0034963 0.99999304 -0.00130402 -0.04799443] [ 0.00262167 0.00129486 0.99999573 -0.18106741] [ 0. 0. 0. 1. ]] SLAMing on 3.8402816929999997 meters Centerline goodness : 0.092446 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.05, Z:-0.18 [[ 9.99994581e-01 9.46469125e-04 -3.15316618e-03 1.01589587e+00] [-9.37180542e-04 9.99995221e-01 2.94597213e-03 -4.77730994e-02] [ 3.15593939e-03 -2.94300108e-03 9.99990689e-01 -1.81490918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9002816929999997 meters Centerline goodness : 0.114099 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.04, Z:-0.18 [[ 0.99997609 0.00589816 -0.00361028 1.02023634] [-0.0058732 0.99995904 0.00688592 -0.04445609] [ 0.00365075 -0.00686456 0.99996977 -0.18215441] [ 0. 0. 0. 1. ]] SLAMing on 3.9602816929999998 meters Centerline goodness : 0.086774 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.04, Z:-0.18 [[ 0.99997173 0.00629022 -0.00412056 1.02348416] [-0.00626269 0.99995821 0.00665994 -0.04184664] [ 0.00416228 -0.00663395 0.99996933 -0.18258368] [ 0. 0. 0. 1. ]] SLAMing on 4.020281692999999 meters Centerline goodness : 0.099317 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.04, Z:-0.18 [[ 0.99998637 0.00241148 -0.0046305 1.02776299] [-0.00239987 0.99999396 0.00251282 -0.0416792 ] [ 0.00463653 -0.00250167 0.99998612 -0.18359068] [ 0. 0. 0. 1. ]] SLAMing on 4.080281693 meters Centerline goodness : 0.083449 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:-0.18 [[ 9.99987105e-01 9.47655815e-04 -4.98907624e-03 1.03166004e+00] [-9.34278379e-04 9.99995964e-01 2.68299353e-03 -4.65885955e-02] [ 4.99159866e-03 -2.67829775e-03 9.99983955e-01 -1.84309361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1402816929999995 meters Centerline goodness : 0.085039 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:-0.19 [[ 0.99998449 0.00135519 -0.0054029 1.03522998] [-0.0013379 0.99999397 0.00320339 -0.0494957 ] [ 0.00540721 -0.00319611 0.99998027 -0.18524688] [ 0. 0. 0. 1. ]] SLAMing on 4.200281693 meters Centerline goodness : 0.086082 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:-0.18 [[ 0.99998145 0.00180218 -0.00581761 1.03745327] [-0.00178206 0.99999242 0.00346261 -0.05045552] [ 0.0058238 -0.00345218 0.99997708 -0.18481682] [ 0. 0. 0. 1. ]] SLAMing on 4.260281693 meters Centerline goodness : 0.128781 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:-0.18 [[ 0.9999791 0.0022031 -0.00607817 1.04012186] [-0.00217808 0.99998914 0.00411898 -0.05436627] [ 0.00608718 -0.00410566 0.99997304 -0.18463546] [ 0. 0. 0. 1. ]] SLAMing on 4.320281693 meters Centerline goodness : 0.089475 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.06, Z:-0.18 [[ 0.99997665 0.0024515 -0.00637955 1.04213957] [-0.00242256 0.99998676 0.00454059 -0.05675618] [ 0.0063906 -0.00452503 0.99996934 -0.18495618] [ 0. 0. 0. 1. ]] SLAMing on 4.380281693 meters Centerline goodness : 0.093186 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.19 [[ 0.99996866 0.00382573 -0.00693141 1.04600348] [-0.00379262 0.99998137 0.0047838 -0.05480934] [ 0.00694959 -0.00475736 0.99996453 -0.18567588] [ 0. 0. 0. 1. ]] SLAMing on 4.440281692999999 meters Centerline goodness : 0.094773 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.19 [[ 0.99993826 0.00821756 -0.00747981 1.04991088] [-0.00815034 0.99992653 0.00897283 -0.05412866] [ 0.007553 -0.00891131 0.99993177 -0.18706393] [ 0. 0. 0. 1. ]] SLAMing on 4.500281693 meters Centerline goodness : 0.095154 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.19 [[ 0.99993577 0.00825899 -0.00776232 1.05108968] [-0.00819078 0.99992792 0.00877836 -0.05267499] [ 0.00783427 -0.00871421 0.99993134 -0.18686759] [ 0. 0. 0. 1. ]] SLAMing on 4.560281692999999 meters Centerline goodness : 0.097796 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.05, Z:-0.19 [[ 9.99963678e-01 8.48140190e-03 -8.42294892e-04 1.00517163e+00] [-8.47424840e-03 9.99930787e-01 8.16138209e-03 -4.88361398e-02] [ 9.11456556e-04 -8.15394784e-03 9.99966341e-01 -1.91493844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.620281693 meters Centerline goodness : 0.096001 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.04, Z:-0.19 [[ 0.99994942 0.00764885 -0.00653054 1.05404413] [-0.00760402 0.99994755 0.00686186 -0.04185503] [ 0.00658268 -0.00681186 0.99995513 -0.18886602] [ 0. 0. 0. 1. ]] SLAMing on 4.6802816929999995 meters Centerline goodness : 0.102785 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.03, Z:-0.19 [[ 9.99996031e-01 2.81334841e-03 -1.51955609e-04 1.00731403e+00] [-2.81319375e-03 9.99995534e-01 1.00860673e-03 -3.41116615e-02] [ 1.54792492e-04 -1.00817525e-03 9.99999480e-01 -1.92829597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.740281693 meters Centerline goodness : 0.102340 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.03, Z:-0.19 [[ 0.99998288 -0.00539222 -0.00227101 1.03728675] [ 0.00539748 0.99998275 0.00231567 -0.02887831] [ 0.00225849 -0.00232789 0.99999474 -0.19453165] [ 0. 0. 0. 1. ]] SLAMing on 4.800281693 meters Centerline goodness : 0.107655 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.03, Z:-0.20 [[ 0.99994669 -0.01001571 -0.0025098 1.03896564] [ 0.01000931 0.99994665 -0.00255057 -0.02581484] [ 0.00253521 0.00252531 0.9999936 -0.19525749] [ 0. 0. 0. 1. ]] SLAMing on 4.860281692999999 meters Centerline goodness : 0.097449 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.02, Z:-0.19 [[ 0.9997597 -0.01701036 -0.013827 1.09920413] [ 0.01712328 0.99982066 0.00808937 -0.02384385] [ 0.01368692 -0.00832419 0.99987168 -0.19409111] [ 0. 0. 0. 1. ]] SLAMing on 4.920281693 meters Centerline goodness : 0.105024 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.02, Z:-0.19 [[ 9.99777160e-01 -1.49300558e-02 -1.49239608e-02 1.12225486e+00] [ 1.49215283e-02 9.99888435e-01 -6.82588494e-04 -1.98683974e-02] [ 1.49324869e-02 4.59748083e-04 9.99888399e-01 -1.91087283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.980281692999999 meters Centerline goodness : 0.093874 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.02, Z:-0.19 [[ 9.99767211e-01 -1.50490502e-02 -1.54612201e-02 1.12482585e+00] [ 1.50352727e-02 9.99886457e-01 -1.00695969e-03 -1.81776233e-02] [ 1.54746184e-02 7.74261623e-04 9.99879961e-01 -1.91407226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.040281693 meters Centerline goodness : 0.101217 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.01, Z:-0.20 [[ 0.99982502 -0.0128047 -0.01363703 1.1103235 ] [ 0.01268523 0.99988072 -0.00881126 -0.01167882] [ 0.01374823 0.00863672 0.99986819 -0.19846975] [ 0. 0. 0. 1. ]] SLAMing on 5.1002816929999994 meters Centerline goodness : 0.100944 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.01, Z:-0.20 [[ 9.99795810e-01 -1.36971611e-02 -1.48568307e-02 1.13604136e+00] [ 1.36951875e-02 9.99906189e-01 -2.34577154e-04 -1.00207749e-02] [ 1.48586500e-02 3.10621724e-05 9.99889604e-01 -1.98437881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.160281693 meters Centerline goodness : 0.099565 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.00, Z:-0.20 [[ 9.99789758e-01 -1.33681563e-02 -1.55477386e-02 1.13806237e+00] [ 1.33400631e-02 9.99909195e-01 -1.90921616e-03 -3.05088550e-04] [ 1.55718495e-02 1.70140695e-03 9.99877304e-01 -1.99176092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.220281693 meters Centerline goodness : 0.097267 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:0.00, Z:-0.20 [[ 0.99977999 -0.01384631 -0.01575596 1.13857618] [ 0.01380119 0.99990035 -0.00296932 0.00473807] [ 0.0157955 0.00275122 0.99987146 -0.19847914] [ 0. 0. 0. 1. ]] SLAMing on 5.280281692999999 meters Centerline goodness : 0.094966 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:0.00, Z:-0.20 [[ 9.99802416e-01 -1.12691548e-02 -1.63748450e-02 1.14204329e+00] [ 1.12940197e-02 9.99935203e-01 1.42679431e-03 8.77048024e-04] [ 1.63577052e-02 -1.61145022e-03 9.99864905e-01 -1.98346678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.340281693 meters Centerline goodness : 0.219149 with order 3 Centerline is valid? [False, False] Translation: X:1.14, Y:0.00, Z:-0.20 [[ 9.99771610e-01 -1.40200423e-02 -1.61296696e-02 1.13873357e+00] [ 1.40036531e-02 9.99901307e-01 -1.12859630e-03 1.83248360e-03] [ 1.61439007e-02 9.02464242e-04 9.99869271e-01 -1.95439327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.400281692999999 meters Centerline goodness : 0.456116 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:-0.20 [[ 0.99982255 -0.01425848 -0.01231082 1.15905574] [ 0.01411184 0.9998294 -0.01191735 0.00537917] [ 0.01247864 0.01174151 0.9998532 -0.19761055] [ 0. 0. 0. 1. ]] SLAMing on 5.460281693 meters Centerline goodness : 0.089573 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:0.00, Z:-0.20 [[ 9.99866938e-01 -1.04760083e-02 -1.25043596e-02 1.16036138e+00] [ 1.03899145e-02 9.99922007e-01 -6.93032123e-03 2.04809146e-04] [ 1.25759864e-02 6.79947985e-03 9.99897801e-01 -1.98067213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.520281692999999 meters Centerline goodness : 0.977684 with order 1 Centerline is valid? [False, True] Translation: X:1.16, Y:-0.00, Z:-0.20 [[ 0.99990999 -0.00595022 -0.01202486 1.15927232] [ 0.00592914 0.99998082 -0.00178864 -0.00328083] [ 0.01203527 0.00171718 0.9999261 -0.1974446 ] [ 0. 0. 0. 1. ]] SLAMing on 5.580281693 meters Centerline goodness : 0.979103 with order 1 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.00, Z:-0.20 [[ 9.99922173e-01 -3.35673063e-03 -1.20158687e-02 1.21710505e+00] [ 3.35767723e-03 9.99994361e-01 5.86067444e-05 -4.01920640e-03] [ 1.20156042e-02 -9.89475918e-05 9.99927805e-01 -1.95834410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6402816929999995 meters Centerline goodness : 0.981750 with order 1 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.00, Z:-0.20 [[ 9.99927581e-01 -6.72625053e-04 -1.20158780e-02 1.27527398e+00] [ 6.73354078e-04 9.99999772e-01 5.66263441e-05 -2.70791946e-03] [ 1.20158372e-02 -6.47131837e-05 9.99927805e-01 -1.96739722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.700281693 meters Centerline goodness : 0.983877 with order 1 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.00, Z:-0.19 [[ 9.99926752e-01 -1.45220384e-03 -1.20158870e-02 1.33428476e+00] [ 1.45296534e-03 9.99998943e-01 5.46449554e-05 -2.90873762e-03] [ 1.20157949e-02 -7.20996201e-05 9.99927805e-01 -1.94528825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.760281693 meters Centerline goodness : 0.986563 with order 1 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.00, Z:-0.20 [[ 9.99909397e-01 -6.06769693e-03 -1.20158893e-02 1.39326456e+00] [ 6.06878556e-03 9.99981583e-01 5.41386971e-05 -1.65672443e-03] [ 1.20153395e-02 -1.27055647e-04 9.99927805e-01 -1.96749031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.820281692999999 meters Centerline goodness : 0.988496 with order 1 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.00, Z:-0.19 [[ 9.99880572e-01 -9.71904345e-03 -1.20158915e-02 1.45192623e+00] [ 9.72038960e-03 9.99952754e-01 5.36332521e-05 -2.33098329e-03] [ 1.20148026e-02 -1.70425994e-04 9.99927805e-01 -1.91666951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.880281693 meters Centerline goodness : 0.991637 with order 1 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.00, Z:-0.19 [[ 9.99823961e-01 -1.44106298e-02 -1.20158938e-02 1.50982288e+00] [ 1.44123085e-02 9.99896136e-01 5.31264297e-05 -3.42441305e-03] [ 1.20138802e-02 -2.26293846e-04 9.99927805e-01 -1.87902610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.940281692999999 meters Centerline goodness : 0.993913 with order 1 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.00, Z:-0.19 [[ 9.99848292e-01 -1.26099959e-02 -1.20159024e-02 1.56818243e+00] [ 1.26115202e-02 9.99920470e-01 5.10899349e-05 -2.83618432e-03] [ 1.20143026e-02 -2.02620981e-04 9.99927805e-01 -1.89500647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.000281693 meters Centerline goodness : 0.995555 with order 1 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.00, Z:-0.19 [[ 9.99877590e-01 -1.00211542e-02 -1.20159107e-02 1.62615654e+00] [ 1.00224673e-02 9.99949773e-01 4.90665377e-05 -1.67070707e-03] [ 1.20148155e-02 -1.69489603e-04 9.99927805e-01 -1.89014597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.060281692999999 meters Centerline goodness : 0.996989 with order 1 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.00, Z:-0.19 [[ 9.99865413e-01 -1.11702130e-02 -1.20159189e-02 1.68439292e+00] [ 1.11715838e-02 9.99937595e-01 4.69636745e-05 -2.85696722e-03] [ 1.20146445e-02 -1.81194199e-04 9.99927805e-01 -1.89330851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.120281693 meters Centerline goodness : 0.997431 with order 1 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.01, Z:-0.19 [[ 9.99790536e-01 -1.65680935e-02 -1.20159268e-02 1.74226672e+00] [ 1.65698285e-02 9.99862710e-01 4.48448758e-05 -6.99617617e-03] [ 1.20135342e-02 -2.43937329e-04 9.99927805e-01 -1.88342026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1802816929999995 meters Centerline goodness : 0.998417 with order 1 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.01, Z:-0.19 [[ 9.99717370e-01 -2.05133447e-02 -1.20159345e-02 1.79943996e+00] [ 2.05153386e-02 9.99789537e-01 4.26852574e-05 -1.09925361e-02] [ 1.20125300e-02 -2.89184158e-04 9.99927805e-01 -1.86872246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.240281693 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.02, Z:-0.19 [[ 9.99716444e-01 -2.05583996e-02 -1.20159396e-02 1.85699603e+00] [ 2.05603789e-02 9.99788612e-01 4.12033391e-05 -2.03052909e-02] [ 1.20125525e-02 -2.88243926e-04 9.99927805e-01 -1.88368323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.300281693 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.03, Z:-0.19 [[ 9.99730870e-01 -1.98445260e-02 -1.20159465e-02 1.91537420e+00] [ 1.98464281e-02 9.99803039e-01 3.90696882e-05 -2.96204775e-02] [ 1.20128045e-02 -2.77532792e-04 9.99927805e-01 -1.91830882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.360281692999999 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.04, Z:-0.19 [[ 9.99716718e-01 -2.05450892e-02 -1.20159522e-02 1.97351059e+00] [ 2.05470197e-02 9.99788887e-01 3.72187737e-05 -3.81920685e-02] [ 1.20126509e-02 -2.84100237e-04 9.99927805e-01 -1.89853174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.420281693 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.04, Z:-0.19 [[ 9.99704393e-01 -2.11363241e-02 -1.20159587e-02 2.03109675e+00] [ 2.11382705e-02 9.99776561e-01 3.49926395e-05 -4.24507402e-02] [ 1.20125343e-02 -2.88978881e-04 9.99927805e-01 -1.88007585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.480281692999999 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.05, Z:-0.19 [[ 9.99715370e-01 -2.06105600e-02 -1.20159648e-02 2.08899708e+00] [ 2.06124418e-02 9.99787541e-01 3.27704356e-05 -5.37805405e-02] [ 1.20127365e-02 -2.80439483e-04 9.99927805e-01 -1.89332189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.540281693 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.06, Z:-0.19 [[ 9.99767203e-01 -1.79208313e-02 -1.20159704e-02 2.14677658e+00] [ 1.79224923e-02 9.99839379e-01 3.05541018e-05 -5.99343683e-02] [ 1.20134929e-02 -2.45903126e-04 9.99927805e-01 -1.89275001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6002816929999994 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.06, Z:-0.19 [[ 9.99887311e-01 -8.99895960e-03 -1.20159757e-02 2.20499495e+00] [ 8.99994984e-03 9.99959499e-01 2.83382861e-05 -6.42522853e-02] [ 1.20152340e-02 -1.36478271e-04 9.99927805e-01 -1.87680124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.660281693 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.07, Z:-0.19 [[ 9.99926964e-01 -1.29759443e-03 -1.20159805e-02 2.26322063e+00] [ 1.29800185e-03 9.99999157e-01 2.61082025e-05 -6.62975814e-02] [ 1.20159365e-02 -4.17030606e-05 9.99927805e-01 -1.90009383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.720281693 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.07, Z:-0.19 [[ 9.99927464e-01 8.26730884e-04 -1.20159820e-02 2.32142936e+00] [-8.26485147e-04 9.99999658e-01 2.54165179e-05 -6.86977930e-02] [ 1.20159989e-02 -1.54836436e-05 9.99927805e-01 -1.88498357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.780281692999999 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.07, Z:-0.19 [[ 9.99927784e-01 -2.06445043e-04 -1.20159861e-02 2.37987780e+00] [ 2.06739471e-04 9.99999978e-01 2.32609293e-05 -7.15034440e-02] [ 1.20159811e-02 -2.57434281e-05 9.99927805e-01 -1.89592675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.840281693 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.07, Z:-0.19 [[ 9.99927760e-01 -3.02848523e-04 -1.20159876e-02 2.43828517e+00] [ 3.03140211e-04 9.99999954e-01 2.24536965e-05 -7.43845184e-02] [ 1.20159803e-02 -2.60946035e-05 9.99927805e-01 -1.89206842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.900281692999999 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.08, Z:-0.19 [[ 9.99920994e-01 3.69078645e-03 -1.20159914e-02 2.49638008e+00] [-3.69080985e-03 9.99993189e-01 2.02284411e-05 -7.67920165e-02] [ 1.20159842e-02 2.41218964e-05 9.99927805e-01 -1.85057932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.960281693 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.08, Z:-0.19 [[ 9.99913719e-01 5.30752290e-03 -1.20159947e-02 2.55465778e+00] [-5.30768968e-03 9.99985914e-01 1.80094314e-05 -8.03704664e-02] [ 1.20159210e-02 4.57692937e-05 9.99927805e-01 -1.86736392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.020281692999999 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.09, Z:-0.19 [[ 9.99916700e-01 4.71264519e-03 -1.20159959e-02 2.61233917e+00] [-4.71277931e-03 9.99988895e-01 1.71538428e-05 -8.58019107e-02] [ 1.20159433e-02 3.94763231e-05 9.99927805e-01 -1.85460594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.080281693 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.09, Z:-0.18 [[ 9.99925197e-01 2.28394944e-03 -1.20159969e-02 2.67085063e+00] [-2.28391672e-03 9.99997392e-01 1.64453325e-05 -9.22268304e-02] [ 1.20160031e-02 1.09994340e-05 9.99927805e-01 -1.82730378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1402816929999995 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.10, Z:-0.18 [[ 9.99926839e-01 1.39041234e-03 -1.20159976e-02 2.72983953e+00] [-1.39032184e-03 9.99999033e-01 1.58846513e-05 -9.57253469e-02] [ 1.20160081e-02 8.22614798e-07 9.99927805e-01 -1.83953422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.200281692999999 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.10, Z:-0.18 [[ 9.99925528e-01 2.13416590e-03 -1.20159984e-02 2.78791594e+00] [-2.13413590e-03 9.99997723e-01 1.53185768e-05 -1.00268826e-01] [ 1.20160037e-02 1.03263376e-05 9.99927805e-01 -1.80912322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.260281693 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.11, Z:-0.18 [[ 9.99922938e-01 3.11988432e-03 -1.20160008e-02 2.84650055e+00] [-3.11995270e-03 9.99995133e-01 1.30543807e-05 -1.05786112e-01] [ 1.20159831e-02 2.44359796e-05 9.99927805e-01 -1.82429042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.320281692999999 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.11, Z:-0.18 [[ 9.99916364e-01 4.78331690e-03 -1.20160014e-02 2.90341358e+00] [-4.78351226e-03 9.99988559e-01 1.24824871e-05 -1.07852227e-01] [ 1.20159237e-02 4.49972470e-05 9.99927805e-01 -1.83413892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.380281693 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.11, Z:-0.18 [[ 9.99899218e-01 7.56106646e-03 -1.20160024e-02 2.96105502e+00] [-7.56147427e-03 9.99971412e-01 1.14917808e-05 -1.05556414e-01] [ 1.20157457e-02 7.93680702e-05 9.99927805e-01 -1.80311101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.440281692999999 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.10, Z:-0.18 [[ 9.99877353e-01 1.00446212e-02 -1.20160041e-02 3.01790933e+00] [-1.00452349e-02 9.99949545e-01 9.28286515e-06 -1.02885636e-01] [ 1.20154911e-02 1.11421857e-04 9.99927805e-01 -1.81815083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.500281693 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.10, Z:-0.18 [[ 9.99862160e-01 1.14576133e-02 -1.20160047e-02 3.07608779e+00] [-1.14583404e-02 9.99934351e-01 8.32823587e-06 -9.98941277e-02] [ 1.20153113e-02 1.29356385e-04 9.99927805e-01 -1.78267985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.560281692999999 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.10, Z:-0.18 [[ 9.99854836e-01 1.20798716e-02 -1.20160052e-02 3.13398786e+00] [-1.20806534e-02 9.99927026e-01 7.52025989e-06 -9.53664082e-02] [ 1.20152192e-02 1.37642026e-04 9.99927805e-01 -1.76162413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.620281693 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.09, Z:-0.18 [[ 9.99829410e-01 1.40273579e-02 -1.20160057e-02 3.19181035e+00] [-1.40282900e-02 9.99901599e-01 6.71872245e-06 -9.11000313e-02] [ 1.20149175e-02 1.61846436e-04 9.99927805e-01 -1.75899427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6802816929999995 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.09, Z:-0.17 [[ 9.99804396e-01 1.57093945e-02 -1.20160060e-02 3.25015851e+00] [-1.57104559e-02 9.99876583e-01 6.05895157e-06 -8.92101476e-02] [ 1.20146182e-02 1.82719166e-04 9.99927805e-01 -1.74135327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.740281692999999 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.08, Z:-0.18 [[ 9.99718377e-01 2.04641503e-02 -1.20160064e-02 3.30931882e+00] [-2.04655644e-02 9.99790558e-01 5.27603278e-06 -8.19651508e-02] [ 1.20135977e-02 2.40639806e-04 9.99927805e-01 -1.75804529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.800281693 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.08, Z:-0.18 [[ 9.99635158e-01 2.41902264e-02 -1.20160066e-02 3.36694932e+00] [-2.41919161e-02 9.99707333e-01 4.73447141e-06 -7.58858294e-02] [ 1.20126044e-02 2.85957479e-04 9.99927805e-01 -1.77801760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.860281692999999 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.07, Z:-0.18 [[ 9.99600202e-01 2.55939875e-02 -1.20160068e-02 3.42583089e+00] [-2.55957880e-02 9.99672374e-01 3.93993721e-06 -7.01019048e-02] [ 1.20121709e-02 3.03620802e-04 9.99927805e-01 -1.75761562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.920281693 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.07, Z:-0.18 [[ 9.99693715e-01 2.16354457e-02 -1.20160070e-02 3.48327217e+00] [-2.16369673e-02 9.99765893e-01 3.37043361e-06 -6.55045290e-02] [ 1.20132669e-02 2.56620549e-04 9.99927805e-01 -1.79085625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.980281692999999 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.06, Z:-0.18 [[ 9.99716222e-01 2.05691820e-02 -1.20160072e-02 3.54196592e+00] [-2.05706358e-02 9.99788402e-01 2.61085966e-06 -6.12327461e-02] [ 1.20135183e-02 2.44566788e-04 9.99927805e-01 -1.75903365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.040281692999999 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.06, Z:-0.17 [[ 9.99687483e-01 2.19214972e-02 -1.20160073e-02 3.59999809e+00] [-2.19230554e-02 9.99759661e-01 2.04356862e-06 -5.55449853e-02] [ 1.20131641e-02 2.61384662e-04 9.99927805e-01 -1.73089509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.100281693 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.05, Z:-0.17 [[ 9.99679571e-01 2.22794025e-02 -1.20160073e-02 3.65878775e+00] [-2.22809950e-02 9.99751748e-01 1.33993321e-06 -5.18439155e-02] [ 1.20130542e-02 2.66389096e-04 9.99927805e-01 -1.73984931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.160281693 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.04, Z:-0.17 [[ 9.99687066e-01 2.19405052e-02 -1.20160074e-02 3.71628549e+00] [-2.19420801e-02 9.99759244e-01 7.66959188e-07 -4.41940692e-02] [ 1.20131313e-02 2.62889478e-04 9.99927805e-01 -1.71753390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.220281692999999 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.04, Z:-0.17 [[ 9.99752639e-01 1.87156464e-02 -1.20160074e-02 3.77471681e+00] [-1.87169970e-02 9.99824822e-01 5.69714840e-08 -3.82734399e-02] [ 1.20139035e-02 2.24846616e-04 9.99927805e-01 -1.70081688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.280281693 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.04, Z:-0.17 [[ 9.99805213e-01 1.56573267e-02 -1.20160074e-02 3.83227012e+00] [-1.56584638e-02 9.99877399e-01 -5.48897478e-07 -3.76251530e-02] [ 1.20145256e-02 1.88701006e-04 9.99927805e-01 -1.66649035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.340281693 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.04, Z:-0.17 [[ 9.99849733e-01 1.24951174e-02 -1.20160073e-02 3.89135309e+00] [-1.24960351e-02 9.99921922e-01 -1.29690999e-06 -3.73002348e-02] [ 1.20150529e-02 1.51449164e-04 9.99927805e-01 -1.65009002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.400281693 meters Centerline goodness : 0.999027 with order 1 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.04, Z:-0.17 [[ 9.99877424e-01 1.00375986e-02 -1.20160072e-02 3.94899251e+00] [-1.00383453e-02 9.99949615e-01 -1.83247834e-06 -3.87364046e-02] [ 1.20153834e-02 1.22453083e-04 9.99927805e-01 -1.65682738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.460281692999999 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.04, Z:-0.17 [[ 9.99896032e-01 7.97123168e-03 -1.20160070e-02 4.00652650e+00] [-7.97183966e-03 9.99968224e-01 -2.70121361e-06 -4.24287443e-02] [ 1.20156036e-02 9.84906139e-05 9.99927805e-01 -1.68764555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.520281693 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.05, Z:-0.17 [[ 9.99906072e-01 6.59264250e-03 -1.20160068e-02 4.06448577e+00] [-6.59315955e-03 9.99978265e-01 -3.41721840e-06 -4.87945496e-02] [ 1.20157231e-02 8.26403474e-05 9.99927805e-01 -1.69782753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.580281693 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.05, Z:-0.17 [[ 9.99911827e-01 5.65269047e-03 -1.20160065e-02 4.12244294e+00] [-5.65314897e-03 9.99984021e-01 -4.19246682e-06 -5.09082756e-02] [ 1.20157908e-02 7.21203721e-05 9.99927805e-01 -1.65122236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.640281693 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.06, Z:-0.17 [[ 9.99924380e-01 2.61706190e-03 -1.20160062e-02 4.18049842e+00] [-2.61731048e-03 9.99996575e-01 -4.96260747e-06 -5.68058799e-02] [ 1.20159521e-02 3.64118512e-05 9.99927805e-01 -1.69296965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.700281692999999 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.06, Z:-0.17 [[ 9.99926584e-01 1.56303481e-03 -1.20160058e-02 4.23804626e+00] [-1.56321743e-03 9.99998778e-01 -5.80596335e-06 -6.01152507e-02] [ 1.20159820e-02 2.45891668e-05 9.99927805e-01 -1.69907983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.760281693 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.06, Z:-0.17 [[ 9.99922955e-01 3.11437244e-03 -1.20160053e-02 4.29507311e+00] [-3.11467711e-03 9.99995149e-01 -6.64179481e-06 -6.29758045e-02] [ 1.20159264e-02 4.40672599e-05 9.99927805e-01 -1.65387589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.820281693 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.06, Z:-0.16 [[ 9.99925595e-01 2.10222735e-03 -1.20160047e-02 4.35364372e+00] [-2.10247058e-03 9.99997790e-01 -7.61044232e-06 -6.42611172e-02] [ 1.20159622e-02 3.28731725e-05 9.99927805e-01 -1.60440397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.880281692999999 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.06, Z:-0.16 [[ 9.99918845e-01 4.23319446e-03 -1.20160044e-02 4.41136298e+00] [-4.23359809e-03 9.99991038e-01 -8.15452434e-06 -6.41774310e-02] [ 1.20158621e-02 5.90247956e-05 9.99927805e-01 -1.58139401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.940281693 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.06, Z:-0.16 [[ 9.99909779e-01 6.00415043e-03 -1.20160025e-02 4.47066316e+00] [-6.00470800e-03 9.99981972e-01 -1.03244908e-05 -6.17270058e-02] [ 1.20157239e-02 8.24761455e-05 9.99927805e-01 -1.60820070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.000281693 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.06, Z:-0.16 [[ 9.99905632e-01 6.65903309e-03 -1.20160020e-02 4.52825102e+00] [-6.65964450e-03 9.99977824e-01 -1.08704264e-05 -5.99731270e-02] [ 1.20156631e-02 9.08917022e-05 9.99927805e-01 -1.61957943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.060281693 meters Centerline goodness : 0.998892 with order 1 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.06, Z:-0.16 [[ 9.99908966e-01 6.13811007e-03 -1.20160012e-02 4.58594286e+00] [-6.13869368e-03 9.99981158e-01 -1.16863014e-05 -5.81748406e-02] [ 1.20157031e-02 8.54477881e-05 9.99927805e-01 -1.59643490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.120281692999999 meters Centerline goodness : 0.998938 with order 1 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.05, Z:-0.16 [[ 9.99891438e-01 8.52810824e-03 -1.20160005e-02 4.64378137e+00] [-8.52887251e-03 9.99963628e-01 -1.23613629e-05 -5.45512257e-02] [ 1.20154580e-02 1.14842957e-04 9.99927805e-01 -1.58546030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.180281693 meters Centerline goodness : 0.999200 with order 1 Centerline is valid? [True, True] Translation: X:4.70, Y:-0.05, Z:-0.16 [[ 9.99819804e-01 1.46960647e-02 -1.20159996e-02 4.70145847e+00] [-1.46972839e-02 9.99891989e-01 -1.31622197e-05 -4.95273403e-02] [ 1.20145083e-02 1.89762406e-04 9.99927805e-01 -1.59536830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.240281693 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.04, Z:-0.16 [[ 9.99744859e-01 1.91267746e-02 -1.20159969e-02 4.75959307e+00] [-1.91283395e-02 9.99817036e-01 -1.53081311e-05 -4.46659671e-02] [ 1.20135056e-02 2.45150293e-04 9.99927805e-01 -1.60776472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.300281692999999 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.04, Z:-0.16 [[ 9.99501836e-01 2.91838287e-02 -1.20159958e-02 4.81784795e+00] [-2.91861292e-02 9.99573994e-01 -1.61099283e-05 -3.70989141e-02] [ 1.20104068e-02 3.66802310e-04 9.99927805e-01 -1.61095814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.360281693 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.03, Z:-0.16 [[ 9.99188460e-01 3.84452447e-02 -1.20159946e-02 4.87554577e+00] [-3.84482241e-02 9.99260594e-01 -1.69577736e-05 -2.66591016e-02] [ 1.20064580e-02 4.78937665e-04 9.99927805e-01 -1.56874478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.420281693 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.02, Z:-0.15 [[ 9.99078086e-01 4.12140137e-02 -1.20159934e-02 4.93233096e+00] [-4.12172031e-02 9.99150210e-01 -1.78066731e-05 -2.00006438e-02] [ 1.20050484e-02 5.13055896e-04 9.99927805e-01 -1.54853519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.480281693 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.01, Z:-0.16 [[ 9.99037951e-01 4.21756910e-02 -1.20159918e-02 4.99078449e+00] [-4.21789616e-02 9.99110071e-01 -1.87827832e-05 -8.79658093e-03] [ 1.20045063e-02 5.25586772e-04 9.99927805e-01 -1.59434068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.540281692999999 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:5.05, Y:0.00, Z:-0.16 [[ 9.99130826e-01 3.99150206e-02 -1.20159905e-02 5.04875909e+00] [-3.99181381e-02 9.99202953e-01 -1.96208952e-05 3.72689190e-03] [ 1.20056300e-02 4.99259808e-04 9.99927805e-01 -1.55461124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.600281693 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:5.11, Y:0.01, Z:-0.16 [[ 9.99250696e-01 3.67921620e-02 -1.20159890e-02 5.10635003e+00] [-3.67950643e-02 9.99322832e-01 -2.04803216e-05 1.14373127e-02] [ 1.20070986e-02 4.62594064e-04 9.99927805e-01 -1.55038818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.660281693 meters Centerline goodness : 0.999188 with order 1 Centerline is valid? [True, True] Translation: X:5.16, Y:0.02, Z:-0.16 [[ 9.99586184e-01 2.61357232e-02 -1.20159875e-02 5.16370720e+00] [-2.61378666e-02 9.99658347e-01 -2.13447724e-05 1.92890287e-02] [ 1.20113243e-02 3.35408217e-04 9.99927805e-01 -1.56490478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.720281692999999 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:5.22, Y:0.02, Z:-0.15 [[ 9.99788916e-01 1.66655305e-02 -1.20159860e-02 5.22170745e+00] [-1.66669998e-02 9.99861096e-01 -2.21455478e-05 2.17589402e-02] [ 1.20139479e-02 2.22411310e-04 9.99927805e-01 -1.54065660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.780281693 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:5.28, Y:0.02, Z:-0.15 [[ 9.99910188e-01 5.93573749e-03 -1.20159847e-02 5.27923837e+00] [-5.93644063e-03 9.99982379e-01 -2.28496173e-05 2.36667067e-02] [ 1.20156373e-02 9.41797446e-05 9.99927805e-01 -1.54052538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.840281693 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:5.34, Y:0.02, Z:-0.15 [[ 9.99927710e-01 -4.37544605e-04 -1.20159830e-02 5.33691386e+00] [ 4.37291408e-04 9.99999904e-01 -2.36990442e-05 2.49309967e-02] [ 1.20159922e-02 1.84428449e-05 9.99927805e-01 -1.52291634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.900281693 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:5.39, Y:0.02, Z:-0.15 [[ 9.99927614e-01 -6.18150273e-04 -1.20159816e-02 5.39341955e+00] [ 6.17901737e-04 9.99999809e-01 -2.43962476e-05 2.49294865e-02] [ 1.20159943e-02 1.69697858e-05 9.99927805e-01 -1.52664337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.960281692999999 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:5.45, Y:0.03, Z:-0.16 [[ 9.99927802e-01 -8.18155826e-05 -1.20159783e-02 5.45144326e+00] [ 8.15103320e-05 9.99999996e-01 -2.58934558e-05 2.62041125e-02] [ 1.20159804e-02 2.49121600e-05 9.99927805e-01 -1.56583967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.020281693 meters Centerline goodness : 0.999300 with order 1 Centerline is valid? [True, True] Translation: X:5.51, Y:0.03, Z:-0.15 [[ 9.99927578e-01 -6.74338428e-04 -1.20159732e-02 5.50799321e+00] [ 6.74049488e-04 9.99999772e-01 -2.80962107e-05 2.73299606e-02] [ 1.20159894e-02 1.99948154e-05 9.99927805e-01 -1.53396414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.080281693 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:5.57, Y:0.03, Z:-0.15 [[ 9.99923110e-01 -3.06435959e-03 -1.20159709e-02 5.56561712e+00] [ 3.06423171e-03 9.99995305e-01 -2.90528134e-05 2.73282455e-02] [ 1.20160035e-02 -7.76913953e-06 9.99927805e-01 -1.50515536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.140281692999999 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:5.62, Y:0.02, Z:-0.15 [[ 9.99883852e-01 -9.37539843e-03 -1.20159688e-02 5.62332427e+00] [ 9.37571622e-03 9.99956047e-01 -2.98849573e-05 2.49379588e-02] [ 1.20157208e-02 -8.27768274e-05 9.99927805e-01 -1.47331884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.200281692999999 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:5.68, Y:0.02, Z:-0.15 [[ 9.99806685e-01 -1.55630574e-02 -1.20159671e-02 5.68119214e+00] [ 1.55638137e-02 9.99878876e-01 -3.05709800e-05 1.98100989e-02] [ 1.20149874e-02 -1.56449203e-04 9.99927805e-01 -1.45795594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.260281693 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:5.74, Y:0.02, Z:-0.15 [[ 9.99789139e-01 -1.66521666e-02 -1.20159649e-02 5.73892010e+00] [ 1.66529918e-02 9.99861329e-01 -3.13828580e-05 1.82911989e-02] [ 1.20148213e-02 -1.68725525e-04 9.99927805e-01 -1.47212804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.320281693 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:5.80, Y:0.01, Z:-0.15 [[ 9.99787774e-01 -1.67339042e-02 -1.20159589e-02 5.79591414e+00] [ 1.67347094e-02 9.99859964e-01 -3.35384417e-05 9.56626559e-03] [ 1.20148375e-02 -1.67552257e-04 9.99927805e-01 -1.50789211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.380281692999999 meters Centerline goodness : 0.999195 with order 1 Centerline is valid? [True, True] Translation: X:5.85, Y:0.00, Z:-0.15 [[ 9.99869050e-01 -1.08397490e-02 -1.20159544e-02 5.85344106e+00] [ 1.08401101e-02 9.99941244e-01 -3.50764869e-05 4.67454842e-03] [ 1.20156286e-02 -9.51823759e-05 9.99927805e-01 -1.46314938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.440281693 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:5.91, Y:0.00, Z:-0.15 [[ 9.99924337e-01 -2.63387713e-03 -1.20159479e-02 5.90992156e+00] [ 2.63362026e-03 9.99996531e-01 -3.72006545e-05 4.63982050e-03] [ 1.20160042e-02 5.55239606e-06 9.99927805e-01 -1.45465069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.500281693 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:5.97, Y:0.01, Z:-0.15 [[ 9.99883284e-01 9.43584647e-03 -1.20159449e-02 5.96763406e+00] [-9.43698581e-03 9.99955470e-01 -3.81220320e-05 8.51589440e-03] [ 1.20150501e-02 1.51511884e-04 9.99927805e-01 -1.45846690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.560281692999999 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:6.03, Y:0.01, Z:-0.15 [[ 9.99837186e-01 1.34617185e-02 -1.20159375e-02 6.02591244e+00] [-1.34631750e-02 9.99909367e-01 -4.03320032e-05 1.06139649e-02] [ 1.20143055e-02 2.02098106e-04 9.99927805e-01 -1.46039780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.620281692999999 meters Centerline goodness : 0.999280 with order 1 Centerline is valid? [True, True] Translation: X:6.08, Y:0.02, Z:-0.15 [[ 9.99821161e-01 1.46035691e-02 -1.20159346e-02 6.08405523e+00] [-1.46051181e-02 9.99893339e-01 -4.11715475e-05 1.56289768e-02] [ 1.20140518e-02 2.16658329e-04 9.99927805e-01 -1.46140298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.680281693 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:6.14, Y:0.02, Z:-0.15 [[ 9.99813414e-01 1.51246181e-02 -1.20159317e-02 6.14143213e+00] [-1.51262148e-02 9.99885591e-01 -4.20047045e-05 2.21229204e-02] [ 1.20139217e-02 2.23752431e-04 9.99927805e-01 -1.47516391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.740281693 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:6.20, Y:0.03, Z:-0.15 [[ 9.99818151e-01 1.48081727e-02 -1.20159293e-02 6.19911775e+00] [-1.48097548e-02 9.99890329e-01 -4.26937303e-05 2.74194144e-02] [ 1.20139793e-02 2.20638933e-04 9.99927805e-01 -1.47403372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.800281692999999 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:6.26, Y:0.04, Z:-0.15 [[ 9.99836492e-01 1.35132189e-02 -1.20159263e-02 6.25650086e+00] [-1.35147174e-02 9.99908671e-01 -4.35185979e-05 3.52929011e-02] [ 1.20142408e-02 2.05903331e-04 9.99927805e-01 -1.46786408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.860281693 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:6.31, Y:0.04, Z:-0.14 [[ 9.99904480e-01 6.82995483e-03 -1.20159238e-02 6.31426883e+00] [-6.83097904e-03 9.99976668e-01 -4.41975115e-05 4.18616666e-02] [ 1.20153416e-02 1.26273813e-04 9.99927805e-01 -1.44344620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.920281693 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:6.37, Y:0.04, Z:-0.14 [[ 9.99927652e-01 5.54819664e-04 -1.20159213e-02 6.37265240e+00] [-5.55398887e-04 9.99999845e-01 -4.48677459e-05 4.40953725e-02] [ 1.20158945e-02 5.15381292e-05 9.99927805e-01 -1.44158386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.980281693 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:6.43, Y:0.05, Z:-0.14 [[ 9.99885352e-01 -9.21419664e-03 -1.20159193e-02 6.43094604e+00] [ 9.21431636e-03 9.99957546e-01 -4.53983420e-05 4.73869945e-02] [ 1.20158275e-02 -6.53253445e-05 9.99927805e-01 -1.40068811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.040281692999999 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:6.49, Y:0.04, Z:-0.14 [[ 9.99750398e-01 -1.88350650e-02 -1.20159172e-02 6.48987222e+00] [ 1.88358729e-02 9.99822588e-01 -4.59402218e-05 4.23570137e-02] [ 1.20146507e-02 -1.80401535e-04 9.99927805e-01 -1.41604483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.100281693 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:6.55, Y:0.04, Z:-0.14 [[ 9.99628283e-01 -2.44727122e-02 -1.20159151e-02 6.54723018e+00] [ 2.44739207e-02 9.99700468e-01 -4.64753305e-05 3.88407479e-02] [ 1.20134534e-02 -2.47618500e-04 9.99927805e-01 -1.44637249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.160281693 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:6.60, Y:0.03, Z:-0.14 [[ 9.99447805e-01 -3.09790664e-02 -1.20159115e-02 6.60496731e+00] [ 3.09807337e-02 9.99519981e-01 -4.73992638e-05 2.94544680e-02] [ 1.20116120e-02 -3.24888664e-04 9.99927805e-01 -1.44063183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.220281692999999 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:6.66, Y:0.02, Z:-0.14 [[ 9.99304910e-01 -3.52890135e-02 -1.20159031e-02 6.66176386e+00] [ 3.52909676e-02 9.99377079e-01 -4.94308268e-05 2.07263540e-02] [ 1.20101625e-02 -3.74656381e-04 9.99927805e-01 -1.41346058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.280281693 meters Centerline goodness : 0.998747 with order 1 Centerline is valid? [True, True] Translation: X:6.72, Y:0.01, Z:-0.14 [[ 9.99316009e-01 -3.49733188e-02 -1.20158995e-02 6.71991968e+00] [ 3.49752396e-02 9.99388178e-01 -5.03094986e-05 1.41273821e-02] [ 1.20103074e-02 -3.69983875e-04 9.99927805e-01 -1.42720771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.340281693 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:6.78, Y:0.01, Z:-0.14 [[ 9.99510067e-01 -2.89005874e-02 -1.20158899e-02 6.77699881e+00] [ 2.89020434e-02 9.99582247e-01 -5.24903825e-05 7.38460109e-03] [ 1.20123873e-02 -2.94819107e-04 9.99927805e-01 -1.43517038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.400281693 meters Centerline goodness : 0.999112 with order 1 Centerline is valid? [True, True] Translation: X:6.83, Y:0.00, Z:-0.14 [[ 9.99650867e-01 -2.35321567e-02 -1.20158857e-02 6.83476137e+00] [ 2.35332137e-02 9.99723054e-01 -5.34335536e-05 4.70703106e-04] [ 1.20138154e-02 -2.29357509e-04 9.99927805e-01 -1.43281556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.460281692999999 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.01, Z:-0.14 [[ 9.99646739e-01 -2.37068755e-02 -1.20158758e-02 6.89273075e+00] [ 2.37079195e-02 9.99718926e-01 -5.55729662e-05 -8.95852002e-03] [ 1.20138160e-02 -2.29318082e-04 9.99927805e-01 -1.37773491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.520281693 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.02, Z:-0.14 [[ 9.99593088e-01 -2.58704093e-02 -1.20158655e-02 6.95118351e+00] [ 2.58715835e-02 9.99665273e-01 -5.77335930e-05 -1.55592817e-02] [ 1.20133370e-02 -2.53159366e-04 9.99927805e-01 -1.37245336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.580281693 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.03, Z:-0.14 [[ 9.99488313e-01 -2.96434096e-02 -1.20158548e-02 7.00900166e+00] [ 2.96448305e-02 9.99560494e-01 -5.98824711e-05 -2.76588879e-02] [ 1.20123488e-02 -2.96356147e-04 9.99927805e-01 -1.41664799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.640281692999999 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.04, Z:-0.14 [[ 9.99555457e-01 -2.72856788e-02 -1.20158437e-02 7.06565788e+00] [ 2.72869036e-02 9.99627641e-01 -6.20301865e-05 -3.72352889e-02] [ 1.20130620e-02 -2.65872557e-04 9.99927805e-01 -1.40860746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.700281692999999 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.05, Z:-0.14 [[ 9.99655069e-01 -2.33530172e-02 -1.20158388e-02 7.12236526e+00] [ 2.33539468e-02 9.99727257e-01 -6.29584902e-05 -4.61483050e-02] [ 1.20140318e-02 -2.17680487e-04 9.99927805e-01 -1.38858691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.760281693 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.05, Z:-0.13 [[ 9.99707022e-01 -2.10116716e-02 -1.20158308e-02 7.17982688e+00] [ 2.10124142e-02 9.99779213e-01 -6.44553534e-05 -5.05331602e-02] [ 1.20145321e-02 -1.88045144e-04 9.99927805e-01 -1.34212884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.820281693 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.06, Z:-0.13 [[ 9.99742195e-01 -1.92656070e-02 -1.20158192e-02 7.23734825e+00] [ 1.92661983e-02 9.99814387e-01 -6.65537270e-05 -5.55296005e-02] [ 1.20148711e-02 -1.64962585e-04 9.99927805e-01 -1.33527907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.880281692999999 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.06, Z:-0.14 [[ 9.99778868e-01 -1.72579135e-02 -1.20158072e-02 7.29497696e+00] [ 1.72583347e-02 9.99851061e-01 -6.86388280e-05 -6.13961939e-02] [ 1.20152022e-02 -1.38749173e-04 9.99927805e-01 -1.38291883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.940281693 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.07, Z:-0.14 [[ 9.99831719e-01 -1.38620052e-02 -1.20157951e-02 7.35320206e+00] [ 1.38621564e-02 9.99903913e-01 -7.07064811e-05 -6.93943674e-02] [ 1.20156207e-02 -9.58702481e-05 9.99927805e-01 -1.38577302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.000281693 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.07, Z:-0.13 [[ 9.99890977e-01 -8.58225616e-03 -1.20157819e-02 7.41148028e+00] [ 8.58199999e-03 9.99963171e-01 -7.28816902e-05 -7.38779783e-02] [ 1.20159648e-02 -3.02456956e-05 9.99927805e-01 -1.34145145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.060281692999999 meters Centerline goodness : 0.999298 with order 1 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.08, Z:-0.13 [[ 9.99927578e-01 -6.78650860e-04 -1.20157678e-02 7.46858597e+00] [ 6.77797065e-04 9.99999767e-01 -7.51283921e-05 -7.61988299e-02] [ 1.20158160e-02 6.69786990e-05 9.99927805e-01 -1.34735227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.120281692999999 meters Centerline goodness : 0.999232 with order 1 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.07, Z:-0.13 [[ 9.99889259e-01 8.78012497e-03 -1.20157617e-02 7.52675431e+00] [-8.78167328e-03 9.99961437e-01 -7.61001758e-05 -7.49985571e-02] [ 1.20146302e-02 1.81610242e-04 9.99927805e-01 -1.34138089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.180281693 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.07, Z:-0.13 [[ 9.99754369e-01 1.86232050e-02 -1.20157474e-02 7.58463582e+00] [-1.86254902e-02 9.99826527e-01 -7.82978246e-05 -7.12338018e-02] [ 1.20122048e-02 3.02077777e-04 9.99927805e-01 -1.33160360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.240281693 meters Centerline goodness : 0.999386 with order 1 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.06, Z:-0.13 [[ 9.99413231e-01 3.20751565e-02 -1.20157322e-02 7.64231711e+00] [-3.20784396e-02 9.99485351e-01 -8.05529424e-05 -6.23004176e-02] [ 1.20069646e-02 4.65951617e-04 9.99927805e-01 -1.28366731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.300281692999999 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.05, Z:-0.13 [[ 9.99192270e-01 3.83461743e-02 -1.20157276e-02 7.70062717e+00] [-3.83499182e-02 9.99264368e-01 -8.12448002e-05 -5.22679400e-02] [ 1.20037730e-02 5.41981346e-04 9.99927805e-01 -1.25591191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.360281693 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.04, Z:-0.13 [[ 9.99047297e-01 4.19538023e-02 -1.20157220e-02 7.75862841e+00] [-4.19578163e-02 9.99119380e-01 -8.20620694e-05 -3.63469118e-02] [ 1.20016979e-02 5.86137345e-04 9.99927805e-01 -1.32260660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.420281693 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.02, Z:-0.13 [[ 9.99418377e-01 3.19144269e-02 -1.20157173e-02 7.81759451e+00] [-3.19177246e-02 9.99490496e-01 -8.27363148e-05 -2.17458553e-02] [ 1.20069548e-02 4.66202550e-04 9.99927805e-01 -1.30689694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.480281693 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.02, Z:-0.12 [[ 9.99859445e-01 1.16924009e-02 -1.20157146e-02 7.87487515e+00] [-1.16942439e-02 9.99931617e-01 -8.31393205e-05 -1.71980270e-02] [ 1.20139208e-02 2.23642332e-04 9.99927805e-01 -1.24225462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.540281692999999 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.01, Z:-0.13 [[ 9.99927762e-01 3.05798937e-04 -1.20157099e-02 7.93341539e+00] [-3.06828138e-04 9.99999949e-01 -8.38112611e-05 -1.48469104e-02] [ 1.20156836e-02 8.74919646e-05 9.99927805e-01 -1.27684472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.600281693 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.02, Z:-0.13 [[ 9.99895152e-01 -8.08135455e-03 -1.20157058e-02 7.99179147e+00] [ 8.08092399e-03 9.99967345e-01 -8.43847044e-05 -1.64460936e-02] [ 1.20159954e-02 -1.27221487e-05 9.99927805e-01 -1.28421542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.660281693 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.02, Z:-0.13 [[ 9.99876959e-01 -1.00841510e-02 -1.20156997e-02 8.04986300e+00] [ 1.00838547e-02 9.99949153e-01 -8.52473103e-05 -2.07687609e-02] [ 1.20159484e-02 -3.59277489e-05 9.99927805e-01 -1.30198302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.720281692999999 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:8.11, Y:-0.02, Z:-0.13 [[ 9.99889146e-01 -8.79313270e-03 -1.20156946e-02 8.10758502e+00] [ 8.79273461e-03 9.99961339e-01 -8.59594066e-05 -2.48195514e-02] [ 1.20159859e-02 -1.97009363e-05 9.99927805e-01 -1.27344500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.780281693 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:8.17, Y:-0.02, Z:-0.13 [[ 9.99915814e-01 -4.89774288e-03 -1.20156896e-02 8.16575584e+00] [ 4.89705516e-03 9.99988006e-01 -8.66565930e-05 -2.26617274e-02] [ 1.20159699e-02 2.78078030e-05 9.99927805e-01 -1.26723757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.840281693 meters Centerline goodness : 0.998980 with order 1 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.02, Z:-0.13 [[ 9.99926259e-01 -1.76080385e-03 -1.20156726e-02 8.22283087e+00] [ 1.75986204e-03 9.99998447e-01 -8.89549505e-05 -2.07106008e-02] [ 1.20158106e-02 6.78024649e-05 9.99927805e-01 -1.26529542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.900281693 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.02, Z:-0.13 [[ 9.99926811e-01 -1.41297081e-03 -1.20156651e-02 8.28051021e+00] [ 1.41199193e-03 9.99998999e-01 -8.99498286e-05 -1.75977467e-02] [ 1.20157802e-02 7.29772231e-05 9.99927805e-01 -1.25051311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.960281692999999 meters Centerline goodness : 0.998915 with order 1 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.02, Z:-0.12 [[ 9.99917119e-01 -4.62380995e-03 -1.20156477e-02 8.33789732e+00] [ 4.62303559e-03 9.99989309e-01 -9.22204616e-05 -1.56649532e-02] [ 1.20159457e-02 3.66640513e-05 9.99927805e-01 -1.21871716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.020281693 meters Centerline goodness : 0.998963 with order 1 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.02, Z:-0.12 [[ 9.99892278e-01 -8.42952059e-03 -1.20156401e-02 8.39557371e+00] [ 8.42900929e-03 9.99964471e-01 -9.31947519e-05 -1.67326478e-02] [ 1.20159988e-02 -8.09522971e-06 9.99927805e-01 -1.23570892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.080281693 meters Centerline goodness : 0.998856 with order 1 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.02, Z:-0.13 [[ 9.99832935e-01 -1.37741241e-02 -1.20156337e-02 8.45430837e+00] [ 1.37739888e-02 9.99905130e-01 -9.40194300e-05 -2.26242173e-02] [ 1.20157888e-02 -7.14994814e-05 9.99927805e-01 -1.26701272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.140281692999999 meters Centerline goodness : 0.998912 with order 1 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.02, Z:-0.13 [[ 9.99812980e-01 -1.51535374e-02 -1.20156291e-02 8.51145898e+00] [ 1.51534947e-02 9.99885175e-01 -9.46015622e-05 -2.30024674e-02] [ 1.20156830e-02 -8.74949027e-05 9.99927805e-01 -1.25094730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.200281692999999 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.03, Z:-0.12 [[ 9.99800823e-01 -1.59354838e-02 -1.20156211e-02 8.56962492e+00] [ 1.59354855e-02 9.99873018e-01 -9.56076265e-05 -2.64133806e-02] [ 1.20156189e-02 -9.58861722e-05 9.99927805e-01 -1.23048333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.260281693 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.03, Z:-0.12 [[ 9.99830882e-01 -1.39223885e-02 -1.20156028e-02 8.62642218e+00] [ 1.39222179e-02 9.99903076e-01 -9.78510269e-05 -3.03048569e-02] [ 1.20158006e-02 -6.94493620e-05 9.99927805e-01 -1.24637365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.320281693 meters Centerline goodness : 0.998760 with order 1 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.03, Z:-0.12 [[ 9.99881230e-01 -9.65151743e-03 -1.20155948e-02 8.68425344e+00] [ 9.65102670e-03 9.99953423e-01 -9.88253135e-05 -3.44976236e-02] [ 1.20159890e-02 -1.71492504e-05 9.99927805e-01 -1.21806063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.380281692999999 meters Centerline goodness : 0.998756 with order 1 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.04, Z:-0.12 [[ 9.99898558e-01 -7.64844482e-03 -1.20155760e-02 8.74209139e+00] [ 7.64778257e-03 9.99970750e-01 -1.01063620e-04 -3.55943605e-02] [ 1.20159975e-02 9.16085512e-06 9.99927805e-01 -1.16353459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.440281693 meters Centerline goodness : 0.998859 with order 1 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.04, Z:-0.12 [[ 9.99914751e-01 -5.11048425e-03 -1.20155566e-02 8.79871158e+00] [ 5.10961164e-03 9.99986941e-01 -1.03320727e-04 -3.76057977e-02] [ 1.20159277e-02 4.19170914e-05 9.99927805e-01 -1.16645723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.500281693 meters Centerline goodness : 0.998577 with order 1 Centerline is valid? [True, True] Translation: X:8.86, Y:-0.04, Z:-0.12 [[ 9.99916142e-01 -4.83063392e-03 -1.20155481e-02 8.85692159e+00] [ 4.82972935e-03 9.99988331e-01 -1.04299404e-04 -4.22462209e-02] [ 1.20159117e-02 4.62588125e-05 9.99927805e-01 -1.20623844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.560281692999999 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.04, Z:-0.12 [[ 9.99919924e-01 -3.97157041e-03 -1.20155287e-02 8.91616416e+00] [ 3.97057752e-03 9.99992112e-01 -1.06488158e-04 -4.13076704e-02] [ 1.20158568e-02 5.87710422e-05 9.99927805e-01 -1.24482435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.620281692999999 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.04, Z:-0.12 [[ 9.99919332e-01 -4.11779940e-03 -1.20155107e-02 8.97351872e+00] [ 4.11679311e-03 9.99991520e-01 -1.08481714e-04 -4.09451972e-02] [ 1.20158555e-02 5.90075917e-05 9.99927805e-01 -1.23940936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.680281693 meters Centerline goodness : 0.998499 with order 1 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.04, Z:-0.12 [[ 9.99924330e-01 -2.63848378e-03 -1.20155017e-02 9.03212885e+00] [ 2.63735888e-03 9.99996516e-01 -1.09465299e-04 -3.93298258e-02] [ 1.20157487e-02 7.77678256e-05 9.99927805e-01 -1.15888660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.740281693 meters Centerline goodness : 0.998741 with order 1 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.03, Z:-0.12 [[ 9.99927811e-01 2.53162130e-05 -1.20154836e-02 9.08874609e+00] [-2.66568945e-05 9.99999993e-01 -1.11419344e-04 -3.45270659e-02] [ 1.20154807e-02 1.11731597e-04 9.99927805e-01 -1.15427339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.800281692999999 meters Centerline goodness : 0.998804 with order 1 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.03, Z:-0.12 [[ 9.99927430e-01 -8.73848814e-04 -1.20154746e-02 9.14720354e+00] [ 8.72561441e-04 9.99999613e-01 -1.12384814e-04 -3.05309896e-02] [ 1.20155681e-02 1.01892418e-04 9.99927805e-01 -1.17185865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.860281693 meters Centerline goodness : 0.998816 with order 1 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.02, Z:-0.12 [[ 9.99927812e-01 1.08077463e-05 -1.20154693e-02 9.20479438e+00] [-1.21657154e-05 9.99999994e-01 -1.12945316e-04 -2.28220864e-02] [ 1.20154680e-02 1.13083340e-04 9.99927805e-01 -1.22382365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.920281693 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.01, Z:-0.12 [[ 9.99925667e-01 2.07083198e-03 -1.20154593e-02 9.26373181e+00] [-2.07235140e-03 9.99997846e-01 -1.14006301e-04 -1.36288963e-02] [ 1.20151973e-02 1.38898080e-04 9.99927805e-01 -1.16881142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.980281692999998 meters Centerline goodness : 0.998765 with order 1 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.01, Z:-0.12 [[ 9.99924984e-01 2.37795860e-03 -1.20154406e-02 9.32123772e+00] [-2.37952338e-03 9.99997162e-01 -1.15936921e-04 -6.85386221e-03] [ 1.20151308e-02 1.44519246e-04 9.99927805e-01 -1.18483703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.040281692999999 meters Centerline goodness : 0.998752 with order 1 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.01, Z:-0.12 [[ 9.99926895e-01 1.35416334e-03 -1.20154326e-02 9.37869657e+00] [-1.35566415e-03 9.99999074e-01 -1.16762976e-04 -5.78672524e-03] [ 1.20152634e-02 1.33043332e-04 9.99927805e-01 -1.20199028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.100281693 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.00, Z:-0.12 [[ 9.99926533e-01 -1.59930496e-03 -1.20154243e-02 9.43728322e+00] [ 1.59800713e-03 9.99998716e-01 -1.17613543e-04 -2.52192406e-03] [ 1.20155969e-02 9.84041685e-05 9.99927805e-01 -1.20908495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.160281693 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.00, Z:-0.11 [[ 9.99909357e-01 -6.07517238e-03 -1.20154190e-02 9.49547990e+00] [ 6.07419124e-03 9.99981545e-01 -1.18148348e-04 -2.78008066e-04] [ 1.20159150e-02 4.51536862e-05 9.99927805e-01 -1.13333208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.220281692999999 meters Centerline goodness : 0.998786 with order 1 Centerline is valid? [True, True] Translation: X:9.55, Y:0.00, Z:-0.12 [[ 9.99852047e-01 -1.23090948e-02 -1.20154111e-02 9.55406426e+00] [ 1.23085542e-02 9.99924240e-01 -1.18944741e-04 4.33844545e-04] [ 1.20159649e-02 -2.89651964e-05 9.99927805e-01 -1.15843925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.280281693 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.00, Z:-0.11 [[ 9.99777235e-01 -1.73525438e-02 -1.20154058e-02 9.61186906e+00] [ 1.73523609e-02 9.99849429e-01 -1.19478186e-04 -2.51188949e-03] [ 1.20156699e-02 -8.90440880e-05 9.99927805e-01 -1.12948077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.340281693 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.01, Z:-0.11 [[ 9.99700959e-01 -2.12984408e-02 -1.20153838e-02 9.66932033e+00] [ 2.12985167e-02 9.99773153e-01 -1.21657938e-04 -8.98701254e-03] [ 1.20152492e-02 -1.34288294e-04 9.99927805e-01 -1.10142309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.400281692999998 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.01, Z:-0.11 [[ 9.99658603e-01 -2.32014549e-02 -1.20153685e-02 9.72729781e+00] [ 2.32016504e-02 9.99730798e-01 -1.23147898e-04 -1.26147432e-02] [ 1.20149911e-02 -1.55670523e-04 9.99927805e-01 -1.11528324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.460281692999999 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.02, Z:-0.11 [[ 9.99698282e-01 -2.14237447e-02 -1.20153463e-02 9.78510712e+00] [ 2.14237862e-02 9.99770477e-01 -1.25273753e-04 -1.75575045e-02] [ 1.20152723e-02 -1.32178254e-04 9.99927805e-01 -1.09590318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.520281693 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.02, Z:-0.10 [[ 9.99757654e-01 -1.84462819e-02 -1.20153231e-02 9.84159855e+00] [ 1.84460821e-02 9.99829848e-01 -1.27460218e-04 -2.32718932e-02] [ 1.20156299e-02 -9.42063082e-05 9.99927805e-01 -1.04954865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.580281693 meters Centerline goodness : 0.998992 with order 1 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.03, Z:-0.11 [[ 9.99783516e-01 -1.69868654e-02 -1.20153043e-02 9.89984347e+00] [ 1.69865391e-02 9.99855710e-01 -1.29212633e-04 -2.63096871e-02] [ 1.20157655e-02 -7.49137757e-05 9.99927805e-01 -1.05521853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.640281692999999 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.03, Z:-0.11 [[ 9.99804397e-01 -1.57098916e-02 -1.20152808e-02 9.95771182e+00] [ 1.57094473e-02 9.99876590e-01 -1.31363245e-04 -3.25332539e-02] [ 1.20158617e-02 -5.74158704e-05 9.99927805e-01 -1.09816292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.700281692999999 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.04, Z:-0.11 [[ 9.99877186e-01 -1.00621399e-02 -1.20152559e-02 1.00151512e+01] [ 1.00612610e-02 9.99949375e-01 -1.33597153e-04 -3.61267145e-02] [ 1.20159919e-02 1.26921197e-05 9.99927805e-01 -1.06728636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.760281693 meters Centerline goodness : 0.999237 with order 1 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.03, Z:-0.11 [[ 9.99924111e-01 -2.72122579e-03 -1.20152482e-02 1.00727401e+01] [ 2.71980856e-03 9.99996292e-01 -1.34291237e-04 -3.49506049e-02] [ 1.20155691e-02 1.01601871e-04 9.99927805e-01 -1.06099543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.820281693 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.03, Z:-0.11 [[ 9.99916179e-01 4.82384655e-03 -1.20152227e-02 1.01301567e+01] [-4.82583534e-03 9.99988346e-01 -1.36535099e-04 -3.06471839e-02] [ 1.20144240e-02 1.94507141e-04 9.99927805e-01 -1.06527497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.880281692999999 meters Centerline goodness : 0.998783 with order 1 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.02, Z:-0.11 [[ 9.99919333e-01 4.11863466e-03 -1.20152115e-02 1.01887368e+01] [-4.12058429e-03 9.99991501e-01 -1.37512547e-04 -2.44612989e-02] [ 1.20145430e-02 1.87011146e-04 9.99927805e-01 -1.09267927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.940281693 meters Centerline goodness : 0.998873 with order 1 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.02, Z:-0.11 [[ 9.99926957e-01 1.31008299e-03 -1.20152051e-02 1.02465681e+01] [-1.31183658e-03 9.99999130e-01 -1.38066958e-04 -1.83926104e-02] [ 1.20150138e-02 1.53818858e-04 9.99927805e-01 -1.09577771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.000281693 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.01, Z:-0.10 [[ 9.99924426e-01 -2.60335515e-03 -1.20151972e-02 1.03046814e+01] [ 2.60187580e-03 9.99996605e-01 -1.38753720e-04 -7.49375666e-03] [ 1.20155176e-02 1.07481183e-04 9.99927805e-01 -1.04608204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.060281692999999 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:10.36, Y:0.00, Z:-0.10 [[ 9.99901855e-01 -7.20523596e-03 -1.20151894e-02 1.03625637e+01] [ 7.20408075e-03 9.99974041e-01 -1.39424662e-04 2.08635570e-04] [ 1.20158821e-02 5.28525838e-05 9.99927805e-01 -1.01153282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.120281692999999 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:10.42, Y:0.01, Z:-0.10 [[ 9.99787692e-01 -1.67393670e-02 -1.20151799e-02 1.04211094e+01] [ 1.67388904e-02 9.99859885e-01 -1.40237238e-04 5.99030839e-03] [ 1.20158439e-02 -6.09133160e-05 9.99927805e-01 -1.00355775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.180281693 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:10.48, Y:0.01, Z:-0.10 [[ 9.99616932e-01 -2.49323888e-02 -1.20151736e-02 1.04792129e+01] [ 2.49324974e-02 9.99689127e-01 -1.40779049e-04 8.16666871e-03] [ 1.20149483e-02 -1.58843162e-04 9.99927805e-01 -9.58286523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.240281693 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:10.54, Y:0.01, Z:-0.10 [[ 9.99581297e-01 -2.63223687e-02 -1.20151657e-02 1.05372943e+01] [ 2.63225696e-02 9.99653491e-01 -1.41443793e-04 9.55370525e-03] [ 1.20147255e-02 -1.74885467e-04 9.99927805e-01 -9.75389980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.300281692999999 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:10.60, Y:0.01, Z:-0.10 [[ 9.99627409e-01 -2.45087639e-02 -1.20151581e-02 1.05953941e+01] [ 2.45088261e-02 9.99699604e-01 -1.42085545e-04 1.35284059e-02] [ 1.20150312e-02 -1.52444817e-04 9.99927805e-01 -9.87313364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.360281693 meters Centerline goodness : 0.999279 with order 1 Centerline is valid? [True, True] Translation: X:10.65, Y:0.02, Z:-0.10 [[ 9.99669427e-01 -2.27304413e-02 -1.20151322e-02 1.06518982e+01] [ 2.27303492e-02 9.99741622e-01 -1.44243507e-04 1.52742867e-02] [ 1.20153065e-02 -1.28912327e-04 9.99927805e-01 -9.64402140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.420281693 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:10.71, Y:0.02, Z:-0.09 [[ 9.99680680e-01 -2.22300455e-02 -1.20151142e-02 1.07107979e+01] [ 2.22298994e-02 9.99752875e-01 -1.45732267e-04 1.62856285e-02] [ 1.20153846e-02 -1.21409047e-04 9.99927805e-01 -9.08076617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.480281692999998 meters Centerline goodness : 0.999344 with order 1 Centerline is valid? [True, True] Translation: X:10.77, Y:0.01, Z:-0.09 [[ 9.99715976e-01 -2.05816680e-02 -1.20150904e-02 1.07689911e+01] [ 2.05813796e-02 9.99788170e-01 -1.47667641e-04 1.47853752e-02] [ 1.20155845e-02 -9.96614361e-05 9.99927805e-01 -9.06611535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.540281692999999 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:10.83, Y:0.01, Z:-0.10 [[ 9.99796354e-01 -1.62138427e-02 -1.20150820e-02 1.08273881e+01] [ 1.62132307e-02 9.99868546e-01 -1.48350451e-04 1.40538924e-02] [ 1.20159079e-02 -4.64830551e-05 9.99927805e-01 -9.52920968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.600281693 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:10.88, Y:0.01, Z:-0.09 [[ 9.99857404e-01 -1.18663432e-02 -1.20150732e-02 1.08845780e+01] [ 1.18654087e-02 9.99929592e-01 -1.49059546e-04 1.35993590e-02] [ 1.20159960e-02 6.47453734e-06 9.99927805e-01 -9.28061053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.660281693 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:10.94, Y:0.01, Z:-0.09 [[ 9.99916264e-01 -4.80657714e-03 -1.20150537e-02 1.09430342e+01] [ 4.80511429e-03 9.99988444e-01 -1.50616530e-04 1.40523383e-02] [ 1.20156388e-02 9.28702119e-05 9.99927805e-01 -9.03139385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.720281692999999 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:11.00, Y:0.01, Z:-0.09 [[ 9.99925703e-01 2.05611205e-03 -1.20150272e-02 1.10008107e+01] [-2.05809520e-03 9.99997870e-01 -1.52694122e-04 1.46210481e-02] [ 1.20146877e-02 1.77410847e-04 9.99927805e-01 -9.35633483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.780281693 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:11.06, Y:0.02, Z:-0.09 [[ 9.99918083e-01 4.41209608e-03 -1.20149983e-02 1.10588125e+01] [-4.41427625e-03 9.99990245e-01 -1.54939944e-04 1.72693400e-02] [ 1.20141975e-02 2.07964774e-04 9.99927805e-01 -9.22447023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.840281693 meters Centerline goodness : 0.998852 with order 1 Centerline is valid? [True, True] Translation: X:11.12, Y:0.02, Z:-0.09 [[ 9.99905673e-01 6.65480753e-03 -1.20149677e-02 1.11164686e+01] [-6.65717760e-03 9.99977828e-01 -1.57276579e-04 1.80192707e-02] [ 1.20136547e-02 2.37247518e-04 9.99927805e-01 -8.86948465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.900281692999998 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:11.17, Y:0.02, Z:-0.09 [[ 9.99861497e-01 1.15164478e-02 -1.20149582e-02 1.11741432e+01] [-1.15191774e-02 9.99933640e-01 -1.57998232e-04 2.17744181e-02] [ 1.20123413e-02 2.96378784e-04 9.99927805e-01 -8.75753511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.960281692999999 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:11.23, Y:0.02, Z:-0.09 [[ 9.99842922e-01 1.30296847e-02 -1.20149282e-02 1.12331512e+01] [-1.30325505e-02 9.99915060e-01 -1.60250440e-04 2.39607224e-02] [ 1.20118196e-02 3.16810426e-04 9.99927805e-01 -8.61892552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.020281693 meters Centerline goodness : 0.998628 with order 1 Centerline is valid? [True, True] Translation: X:11.29, Y:0.03, Z:-0.09 [[ 9.99858052e-01 1.18117253e-02 -1.20149205e-02 1.12910951e+01] [-1.18145100e-02 9.99930193e-01 -1.60820249e-04 2.74002879e-02] [ 1.20121823e-02 3.02747820e-04 9.99927805e-01 -8.77901388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.080281693 meters Centerline goodness : 0.998528 with order 1 Centerline is valid? [True, True] Translation: X:11.35, Y:0.03, Z:-0.09 [[ 9.99897000e-01 7.85057770e-03 -1.20149111e-02 1.13504593e+01] [-7.85308507e-03 9.99969151e-01 -1.61522757e-04 2.60866336e-02] [ 1.20132724e-02 2.55860239e-04 9.99927805e-01 -9.47022368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.140281693000002 meters Centerline goodness : 0.998836 with order 1 Centerline is valid? [True, True] Translation: X:11.41, Y:0.03, Z:-0.09 [[ 9.99921561e-01 3.53764479e-03 -1.20149036e-02 1.14081821e+01] [-3.53984760e-03 9.99993722e-01 -1.62078435e-04 2.59809510e-02] [ 1.20142548e-02 2.04596649e-04 9.99927805e-01 -9.27444740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.200281693 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:11.47, Y:0.03, Z:-0.09 [[ 9.99920629e-01 3.79189183e-03 -1.20148923e-02 1.14664371e+01] [-3.79412299e-03 9.99992789e-01 -1.62911012e-04 2.80779274e-02] [ 1.20141879e-02 2.08484061e-04 9.99927805e-01 -8.89722155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.260281693 meters Centerline goodness : 0.998487 with order 1 Centerline is valid? [True, True] Translation: X:11.53, Y:0.03, Z:-0.09 [[ 9.99915519e-01 4.95966430e-03 -1.20148848e-02 1.15253568e+01] [-4.96198633e-03 9.99987676e-01 -1.63460713e-04 3.23045690e-02] [ 1.20139261e-02 2.23064597e-04 9.99927805e-01 -9.45574632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.320281693000002 meters Centerline goodness : 0.998651 with order 1 Centerline is valid? [True, True] Translation: X:11.58, Y:0.03, Z:-0.09 [[ 9.99920643e-01 3.78826973e-03 -1.20148773e-02 1.15834590e+01] [-3.79051386e-03 9.99992803e-01 -1.64012861e-04 3.38432584e-02] [ 1.20141695e-02 2.09542404e-04 9.99927805e-01 -9.25182302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.380281693 meters Centerline goodness : 0.998622 with order 1 Centerline is valid? [True, True] Translation: X:11.64, Y:0.04, Z:-0.09 [[ 9.99921371e-01 -3.59092064e-03 -1.20148658e-02 1.16422193e+01] [ 3.58919905e-03 9.99993545e-01 -1.64847873e-04 3.64344357e-02] [ 1.20153802e-02 1.21711167e-04 9.99927805e-01 -8.54295953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.440281693 meters Centerline goodness : 0.998640 with order 1 Centerline is valid? [True, True] Translation: X:11.70, Y:0.04, Z:-0.08 [[ 9.99890231e-01 -8.67001219e-03 -1.20148582e-02 1.16996302e+01] [ 8.66865055e-03 9.99962413e-01 -1.65404381e-04 4.10737095e-02] [ 1.20158406e-02 6.12336175e-05 9.99927805e-01 -8.43245314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.500281693 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:11.76, Y:0.05, Z:-0.08 [[ 9.99879923e-01 -9.78692877e-03 -1.20148487e-02 1.17573129e+01] [ 9.78563953e-03 9.99952106e-01 -1.66089329e-04 4.54323017e-02] [ 1.20158988e-02 4.84964071e-05 9.99927805e-01 -8.23823524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.560281693 meters Centerline goodness : 0.998782 with order 1 Centerline is valid? [True, True] Translation: X:11.81, Y:0.05, Z:-0.08 [[ 9.99859907e-01 -1.16537545e-02 -1.20148177e-02 1.18149955e+01] [ 1.16525734e-02 9.99932092e-01 -1.68304573e-04 4.74200404e-02] [ 1.20159632e-02 2.82774499e-05 9.99927805e-01 -8.35581191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.620281693000003 meters Centerline goodness : 0.998803 with order 1 Centerline is valid? [True, True] Translation: X:11.87, Y:0.05, Z:-0.08 [[ 9.99816235e-01 -1.49378888e-02 -1.20148081e-02 1.18724302e+01] [ 1.49369366e-02 9.99888423e-01 -1.68987778e-04 4.71059133e-02] [ 1.20159918e-02 -1.05077029e-05 9.99927805e-01 -8.21276797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.680281693 meters Centerline goodness : 0.998630 with order 1 Centerline is valid? [True, True] Translation: X:11.93, Y:0.05, Z:-0.08 [[ 9.99765582e-01 -1.80118413e-02 -1.20147947e-02 1.19299923e+01] [ 1.80110997e-02 9.99837773e-01 -1.69934106e-04 4.73010083e-02] [ 1.20159064e-02 -4.65053947e-05 9.99927805e-01 -8.11379729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.740281693 meters Centerline goodness : 0.998752 with order 1 Centerline is valid? [True, True] Translation: X:11.99, Y:0.05, Z:-0.08 [[ 9.99742355e-01 -1.92579562e-02 -1.20147634e-02 1.19878500e+01] [ 1.92572784e-02 9.99814547e-01 -1.72115982e-04 4.70160558e-02] [ 1.20158499e-02 -5.93000064e-05 9.99927805e-01 -8.02017062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.800281693000002 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:12.05, Y:0.05, Z:-0.08 [[ 9.99725435e-01 -2.01171753e-02 -1.20147312e-02 1.20459781e+01] [ 2.01165328e-02 9.99797627e-01 -1.74335477e-04 4.53826637e-02] [ 1.20158069e-02 -6.74071239e-05 9.99927805e-01 -7.80408931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.860281693 meters Centerline goodness : 0.998977 with order 1 Centerline is valid? [True, True] Translation: X:12.10, Y:0.04, Z:-0.08 [[ 9.99705127e-01 -2.11022737e-02 -1.20146982e-02 1.21037971e+01] [ 2.11016754e-02 9.99777319e-01 -1.76580710e-04 4.44201550e-02] [ 1.20157490e-02 -7.70016209e-05 9.99927805e-01 -7.92965848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.920281693 meters Centerline goodness : 0.998764 with order 1 Centerline is valid? [True, True] Translation: X:12.16, Y:0.05, Z:-0.08 [[ 9.99786260e-01 -1.68250382e-02 -1.20146880e-02 1.21618601e+01] [ 1.68241227e-02 9.99858449e-01 -1.77272884e-04 4.79154337e-02] [ 1.20159699e-02 -2.49015912e-05 9.99927805e-01 -8.24849037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.980281693000002 meters Centerline goodness : 0.998623 with order 1 Centerline is valid? [True, True] Translation: X:12.22, Y:0.05, Z:-0.08 [[ 9.99868228e-01 -1.09166657e-02 -1.20146779e-02 1.22196348e+01] [ 1.09153154e-02 9.99940410e-01 -1.77955671e-04 4.98770520e-02] [ 1.20159046e-02 4.67882226e-05 9.99927805e-01 -8.47325983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.040281693 meters Centerline goodness : 0.998805 with order 1 Centerline is valid? [True, True] Translation: X:12.28, Y:0.05, Z:-0.08 [[ 9.99835722e-01 -1.35711699e-02 -1.20146437e-02 1.22762238e+01] [ 1.35699838e-02 9.99907907e-01 -1.80238853e-04 4.77194876e-02] [ 1.20159832e-02 1.71707241e-05 9.99927805e-01 -7.98200256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.100281693 meters Centerline goodness : 0.998354 with order 1 Centerline is valid? [True, True] Translation: X:12.33, Y:0.04, Z:-0.08 [[ 9.99770117e-01 -1.77584321e-02 -1.20146287e-02 1.23342401e+01] [ 1.77575364e-02 9.99842306e-01 -1.81231508e-04 4.30801472e-02] [ 1.20159524e-02 -3.21603602e-05 9.99927805e-01 -7.69900985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.160281693 meters Centerline goodness : 0.998775 with order 1 Centerline is valid? [True, True] Translation: X:12.39, Y:0.04, Z:-0.08 [[ 9.99739553e-01 -1.94029795e-02 -1.20145932e-02 1.23915326e+01] [ 1.94021747e-02 9.99811743e-01 -1.83556090e-04 4.04625836e-02] [ 1.20158929e-02 -4.96009521e-05 9.99927805e-01 -8.28554369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.220281693 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:12.45, Y:0.03, Z:-0.08 [[ 9.99709452e-01 -2.08964585e-02 -1.20145778e-02 1.24495554e+01] [ 2.08957495e-02 9.99781643e-01 -1.84557491e-04 3.22137664e-02] [ 1.20158109e-02 -6.65497385e-05 9.99927805e-01 -7.84893435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.280281693000003 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:12.51, Y:0.02, Z:-0.08 [[ 9.99753081e-01 -1.86929807e-02 -1.20145410e-02 1.25064397e+01] [ 1.86920842e-02 9.99825270e-01 -1.86923001e-04 2.49599903e-02] [ 1.20159358e-02 -3.76999646e-05 9.99927805e-01 -8.01806421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.340281693 meters Centerline goodness : 0.998487 with order 1 Centerline is valid? [True, True] Translation: X:12.56, Y:0.02, Z:-0.08 [[ 9.99838118e-01 -1.33935986e-02 -1.20145249e-02 1.25643683e+01] [ 1.33923070e-02 9.99910301e-01 -1.87948951e-04 2.26102453e-02] [ 1.20159646e-02 2.70163187e-05 9.99927805e-01 -7.91519266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.400281693 meters Centerline goodness : 0.998489 with order 1 Centerline is valid? [True, True] Translation: X:12.62, Y:0.02, Z:-0.07 [[ 9.99913364e-01 -5.37735019e-03 -1.20144895e-02 1.26221703e+01] [ 5.37545310e-03 9.99985534e-01 -1.90187785e-04 2.23360776e-02] [ 1.20153384e-02 1.25587984e-04 9.99927805e-01 -7.42193560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.460281693000002 meters Centerline goodness : 0.998479 with order 1 Centerline is valid? [True, True] Translation: X:12.68, Y:0.02, Z:-0.08 [[ 9.99922308e-01 -3.32133016e-03 -1.20144532e-02 1.26797961e+01] [ 3.31925747e-03 9.99994473e-01 -1.92452812e-04 2.00737975e-02] [ 1.20150260e-02 1.52558796e-04 9.99927805e-01 -7.52250770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.520281693 meters Centerline goodness : 0.998494 with order 1 Centerline is valid? [True, True] Translation: X:12.74, Y:0.02, Z:-0.08 [[ 9.99917633e-01 -4.51461808e-03 -1.20144159e-02 1.27381557e+01] [ 4.51260387e-03 9.99989799e-01 -1.94753415e-04 1.59896877e-02] [ 1.20151726e-02 1.40521074e-04 9.99927805e-01 -7.78023637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.580281693 meters Centerline goodness : 0.998285 with order 1 Centerline is valid? [True, True] Translation: X:12.80, Y:0.01, Z:-0.08 [[ 9.99916541e-01 -4.75032613e-03 -1.20144043e-02 1.27965130e+01] [ 4.74832039e-03 9.99988708e-01 -1.95464990e-04 1.47753925e-02] [ 1.20151972e-02 1.38400435e-04 9.99927805e-01 -8.03491129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.640281693000002 meters Centerline goodness : 0.998472 with order 1 Centerline is valid? [True, True] Translation: X:12.85, Y:0.02, Z:-0.07 [[ 9.99924404e-01 -2.61542090e-03 -1.20143672e-02 1.28546807e+01] [ 2.61323398e-03 9.99996566e-01 -1.97720222e-04 1.51052165e-02] [ 1.20148431e-02 1.66308923e-04 9.99927805e-01 -7.45577197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.700281693 meters Centerline goodness : 0.998118 with order 1 Centerline is valid? [True, True] Translation: X:12.91, Y:0.02, Z:-0.08 [[ 9.99917727e-01 4.49385864e-03 -1.20143298e-02 1.29123875e+01] [-4.49658552e-03 9.99989870e-01 -1.99965919e-04 2.07577905e-02] [ 1.20133095e-02 2.53972929e-04 9.99927805e-01 -8.21821577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.760281693 meters Centerline goodness : 0.998107 with order 1 Centerline is valid? [True, True] Translation: X:12.97, Y:0.03, Z:-0.08 [[ 9.99906587e-01 6.51722090e-03 -1.20143182e-02 1.29705515e+01] [-6.52010210e-03 9.99978724e-01 -2.00660328e-04 2.52992393e-02] [ 1.20127549e-02 2.78976166e-04 9.99927805e-01 -8.00052977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.820281693000002 meters Centerline goodness : 0.998026 with order 1 Centerline is valid? [True, True] Translation: X:13.03, Y:0.03, Z:-0.07 [[ 9.99910401e-01 5.90305646e-03 -1.20143044e-02 1.30288679e+01] [-5.90590326e-03 9.99982540e-01 -2.01485583e-04 3.40898907e-02] [ 1.20129053e-02 2.72422850e-04 9.99927805e-01 -7.29777226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.880281693 meters Centerline goodness : 0.998349 with order 1 Centerline is valid? [True, True] Translation: X:13.09, Y:0.04, Z:-0.07 [[ 9.99910972e-01 5.80557319e-03 -1.20142949e-02 1.30855039e+01] [-5.80841976e-03 9.99983111e-01 -2.02051735e-04 3.80865074e-02] [ 1.20129189e-02 2.71817814e-04 9.99927805e-01 -7.26337001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.940281693 meters Centerline goodness : 0.998231 with order 1 Centerline is valid? [True, True] Translation: X:13.14, Y:0.05, Z:-0.07 [[ 9.99896455e-01 7.92057187e-03 -1.20142783e-02 1.31432198e+01] [-7.92358282e-03 9.99968587e-01 -2.03034612e-04 5.07110050e-02] [ 1.20122927e-02 2.98209718e-04 9.99927805e-01 -6.98416781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.000281693 meters Centerline goodness : 0.998149 with order 1 Centerline is valid? [True, True] Translation: X:13.20, Y:0.06, Z:-0.07 [[ 9.99900447e-01 7.39960910e-03 -1.20142639e-02 1.31997638e+01] [-7.40259261e-03 9.99972580e-01 -2.03879823e-04 6.27798260e-02] [ 1.20124259e-02 2.92796228e-04 9.99927805e-01 -6.91828046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.060281693 meters Centerline goodness : 0.998441 with order 1 Centerline is valid? [True, True] Translation: X:13.26, Y:0.07, Z:-0.07 [[ 9.99920687e-01 3.77856787e-03 -1.20142473e-02 1.32579308e+01] [-3.78130185e-03 9.99992830e-01 -2.04854597e-04 6.86755753e-02] [ 1.20133871e-02 2.50267845e-04 9.99927805e-01 -7.00492803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.120281693000003 meters Centerline goodness : 0.998282 with order 1 Centerline is valid? [True, True] Translation: X:13.31, Y:0.08, Z:-0.07 [[ 9.99927352e-01 -9.73816562e-04 -1.20142327e-02 1.33148176e+01] [ 9.71415260e-04 9.99999507e-01 -2.05705432e-04 7.87562791e-02] [ 1.20144271e-02 1.94019679e-04 9.99927805e-01 -6.54316188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.180281693 meters Centerline goodness : 0.998225 with order 1 Centerline is valid? [True, True] Translation: X:13.37, Y:0.09, Z:-0.06 [[ 9.99925644e-01 -2.08904986e-03 -1.20142158e-02 1.33730591e+01] [ 2.08671722e-03 9.99997801e-01 -2.06688911e-04 8.72095335e-02] [ 1.20146212e-02 1.81603272e-04 9.99927805e-01 -6.25749386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.240281693 meters Centerline goodness : 0.997659 with order 1 Centerline is valid? [True, True] Translation: X:13.43, Y:0.09, Z:-0.07 [[ 9.99869980e-01 -1.07555356e-02 -1.20142064e-02 1.34319539e+01] [ 1.07538219e-02 9.99942155e-01 -2.07233819e-04 9.21457007e-02] [ 1.20157404e-02 7.80082391e-05 9.99927805e-01 -7.15117192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.300281693000002 meters Centerline goodness : 0.997960 with order 1 Centerline is valid? [True, True] Translation: X:13.49, Y:0.09, Z:-0.07 [[ 9.99739611e-01 -1.94002527e-02 -1.20141969e-02 1.34886868e+01] [ 1.93991565e-02 9.99811797e-01 -2.07783821e-04 9.26513839e-02] [ 1.20159669e-02 -2.53355700e-05 9.99927805e-01 -7.06597669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.360281693 meters Centerline goodness : 0.997940 with order 1 Centerline is valid? [True, True] Translation: X:13.55, Y:0.09, Z:-0.07 [[ 9.99605083e-01 -2.54035132e-02 -1.20141763e-02 1.35452200e+01] [ 2.54028362e-02 9.99677274e-01 -2.08967630e-04 9.20121202e-02] [ 1.20156075e-02 -9.63090486e-05 9.99927805e-01 -7.01944308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.420281693 meters Centerline goodness : 0.997479 with order 1 Centerline is valid? [True, True] Translation: X:13.60, Y:0.10, Z:-0.07 [[ 9.99619880e-01 -2.48144122e-02 -1.20141504e-02 1.36027581e+01] [ 2.48136750e-02 9.99692071e-01 -2.10445868e-04 9.66888487e-02] [ 1.20156730e-02 -8.77493504e-05 9.99927805e-01 -7.40123092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.480281693000002 meters Centerline goodness : 0.997455 with order 1 Centerline is valid? [True, True] Translation: X:13.66, Y:0.10, Z:-0.07 [[ 9.99654051e-01 -2.33974091e-02 -1.20141389e-02 1.36607447e+01] [ 2.33965617e-02 9.99726241e-01 -2.11101476e-04 9.87590718e-02] [ 1.20157892e-02 -7.00610958e-05 9.99927805e-01 -7.47362026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.540281693 meters Centerline goodness : 0.997340 with order 1 Centerline is valid? [True, True] Translation: X:13.72, Y:0.10, Z:-0.07 [[ 9.99609540e-01 -2.52275426e-02 -1.20141014e-02 1.37193761e+01] [ 2.52268019e-02 9.99681731e-01 -2.13212518e-04 9.58902164e-02] [ 1.20156566e-02 -8.99480907e-05 9.99927805e-01 -7.06870213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.600281693 meters Centerline goodness : 0.997257 with order 1 Centerline is valid? [True, True] Translation: X:13.78, Y:0.10, Z:-0.07 [[ 9.99492793e-01 -2.94926959e-02 -1.20140657e-02 1.37771891e+01] [ 2.94922393e-02 9.99564986e-01 -2.15207341e-04 9.53848207e-02] [ 1.20151865e-02 -1.39223515e-04 9.99927805e-01 -6.68488467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.660281693 meters Centerline goodness : 0.997127 with order 1 Centerline is valid? [True, True] Translation: X:13.83, Y:0.10, Z:-0.07 [[ 9.99508714e-01 -2.89481139e-02 -1.20140531e-02 1.38342804e+01] [ 2.89476095e-02 9.99580907e-01 -2.15910427e-04 9.69369353e-02] [ 1.20152683e-02 -1.31973764e-04 9.99927805e-01 -6.57221225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.720281693 meters Centerline goodness : 0.996993 with order 1 Centerline is valid? [True, True] Translation: X:13.89, Y:0.10, Z:-0.06 [[ 9.99584471e-01 -2.62020861e-02 -1.20140254e-02 1.38918054e+01] [ 2.62013650e-02 9.99656662e-01 -2.17442194e-04 9.94204747e-02] [ 1.20155979e-02 -9.74320230e-05 9.99927805e-01 -6.23589389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.780281693 meters Centerline goodness : 0.996962 with order 1 Centerline is valid? [True, True] Translation: X:13.95, Y:0.10, Z:-0.06 [[ 9.99593382e-01 -2.58599208e-02 -1.20139845e-02 1.39484590e+01] [ 2.58591482e-02 9.99665572e-01 -2.19674248e-04 1.00656840e-01] [ 1.20156475e-02 -9.10864814e-05 9.99927805e-01 -5.78256433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.840281693 meters Centerline goodness : 0.996234 with order 1 Centerline is valid? [True, True] Translation: X:14.01, Y:0.10, Z:-0.06 [[ 9.99555035e-01 -2.73019551e-02 -1.20139564e-02 1.40059301e+01] [ 2.73012682e-02 9.99627226e-01 -2.21204772e-04 1.03875902e-01] [ 1.20155172e-02 -1.06889901e-04 9.99927805e-01 -6.01095680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.900281693 meters Centerline goodness : 0.996804 with order 1 Centerline is valid? [True, True] Translation: X:14.06, Y:0.10, Z:-0.06 [[ 9.99534562e-01 -2.80414792e-02 -1.20139379e-02 1.40631532e+01] [ 2.80408337e-02 9.99606754e-01 -2.22201587e-04 1.03788041e-01] [ 1.20154444e-02 -1.14782670e-04 9.99927805e-01 -6.26921056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.960281693000002 meters Centerline goodness : 0.996472 with order 1 Centerline is valid? [True, True] Translation: X:14.12, Y:0.10, Z:-0.07 [[ 9.99535810e-01 -2.79969848e-02 -1.20139197e-02 1.41214189e+01] [ 2.79963243e-02 9.99608001e-01 -2.23182683e-04 1.04294887e-01] [ 1.20154587e-02 -1.13266508e-04 9.99927805e-01 -6.52923499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.020281693 meters Centerline goodness : 0.996333 with order 1 Centerline is valid? [True, True] Translation: X:14.18, Y:0.10, Z:-0.07 [[ 9.99572876e-01 -2.66407926e-02 -1.20138776e-02 1.41783397e+01] [ 2.66400072e-02 9.99645067e-01 -2.25427396e-04 1.01494718e-01] [ 1.20156190e-02 -9.47186754e-05 9.99927805e-01 -6.50291265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.080281693 meters Centerline goodness : 0.996314 with order 1 Centerline is valid? [True, True] Translation: X:14.24, Y:0.10, Z:-0.06 [[ 9.99596781e-01 -2.57282455e-02 -1.20138593e-02 1.42360942e+01] [ 2.57273826e-02 9.99668970e-01 -2.26398105e-04 1.01610675e-01] [ 1.20157072e-02 -8.27783368e-05 9.99927805e-01 -6.32316609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.140281693000002 meters Centerline goodness : 0.996662 with order 1 Centerline is valid? [True, True] Translation: X:14.29, Y:0.10, Z:-0.06 [[ 9.99654155e-01 -2.33931420e-02 -1.20138173e-02 1.42946180e+01] [ 2.33920839e-02 9.99726342e-01 -2.28602749e-04 9.86008798e-02] [ 1.20158774e-02 -5.25045352e-05 9.99927805e-01 -6.39238166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.200281693 meters Centerline goodness : 0.996543 with order 1 Centerline is valid? [True, True] Translation: X:14.35, Y:0.10, Z:-0.06 [[ 9.99748756e-01 -1.89233661e-02 -1.20137749e-02 1.43513382e+01] [ 1.89219587e-02 9.99820937e-01 -2.30811610e-04 9.80574313e-02] [ 1.20159914e-02 3.42946789e-06 9.99927805e-01 -6.25680580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.260281693 meters Centerline goodness : 0.996716 with order 1 Centerline is valid? [True, True] Translation: X:14.41, Y:0.10, Z:-0.06 [[ 9.99832065e-01 -1.38387835e-02 -1.20137564e-02 1.44085166e+01] [ 1.38369976e-02 9.99904237e-01 -2.31769959e-04 9.92814363e-02] [ 1.20158134e-02 6.54967184e-05 9.99927805e-01 -6.29992927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.320281693000002 meters Centerline goodness : 0.996657 with order 1 Centerline is valid? [True, True] Translation: X:14.47, Y:0.10, Z:-0.06 [[ 9.99845436e-01 -1.28364774e-02 -1.20137383e-02 1.44662824e+01] [ 1.28346079e-02 9.99917606e-01 -2.32703914e-04 1.01512795e-01] [ 1.20157356e-02 7.84763257e-05 9.99927805e-01 -6.49309163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.380281693 meters Centerline goodness : 0.996756 with order 1 Centerline is valid? [True, True] Translation: X:14.52, Y:0.10, Z:-0.06 [[ 9.99791973e-01 -1.64827536e-02 -1.20136961e-02 1.45242803e+01] [ 1.64811214e-02 9.99864150e-01 -2.34861958e-04 1.01734101e-01] [ 1.20159352e-02 3.68139164e-05 9.99927805e-01 -5.92938418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.440281693 meters Centerline goodness : 0.996298 with order 1 Centerline is valid? [True, True] Translation: X:14.58, Y:0.10, Z:-0.06 [[ 9.99751176e-01 -1.87951811e-02 -1.20136528e-02 1.45808320e+01] [ 1.87936895e-02 9.99823355e-01 -2.37056604e-04 1.02145339e-01] [ 1.20159862e-02 1.12167577e-05 9.99927805e-01 -6.02496306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.500281693 meters Centerline goodness : 0.996474 with order 1 Centerline is valid? [True, True] Translation: X:14.64, Y:0.10, Z:-0.06 [[ 9.99795107e-01 -1.62916153e-02 -1.20136341e-02 1.46390263e+01] [ 1.62899315e-02 9.99867282e-01 -2.37999848e-04 1.02959515e-01] [ 1.20159171e-02 4.22498056e-05 9.99927805e-01 -5.68209893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.560281693 meters Centerline goodness : 0.996390 with order 1 Centerline is valid? [True, True] Translation: X:14.70, Y:0.11, Z:-0.05 [[ 9.99868800e-01 -1.08653329e-02 -1.20135905e-02 1.46972166e+01] [ 1.08632313e-02 9.99940965e-01 -2.40184952e-04 1.06124877e-01] [ 1.20154909e-02 1.09647029e-04 9.99927805e-01 -5.27447604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.620281693000003 meters Centerline goodness : 0.996443 with order 1 Centerline is valid? [True, True] Translation: X:14.75, Y:0.11, Z:-0.05 [[ 9.99921637e-01 -3.52051128e-03 -1.20135459e-02 1.47540177e+01] [ 3.51785306e-03 9.99993783e-01 -2.42393060e-04 1.10654371e-01] [ 1.20143246e-02 2.00112177e-04 9.99927805e-01 -5.17706248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.680281693 meters Centerline goodness : 0.996311 with order 1 Centerline is valid? [True, True] Translation: X:14.81, Y:0.12, Z:-0.05 [[ 9.99920980e-01 3.70250377e-03 -1.20135266e-02 1.48115970e+01] [-3.70569452e-03 9.99993104e-01 -2.43346982e-04 1.16834757e-01] [ 1.20125427e-02 2.87846212e-04 9.99927805e-01 -5.25636905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.740281693 meters Centerline goodness : 0.996621 with order 1 Centerline is valid? [True, True] Translation: X:14.87, Y:0.12, Z:-0.05 [[ 9.99909189e-01 6.10660305e-03 -1.20134819e-02 1.48680006e+01] [-6.10999345e-03 9.99981304e-01 -2.45533967e-04 1.20475206e-01] [ 1.20117579e-02 3.18913965e-04 9.99927805e-01 -5.15179240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.800281693000002 meters Centerline goodness : 0.996828 with order 1 Centerline is valid? [True, True] Translation: X:14.92, Y:0.13, Z:-0.06 [[ 9.99875781e-01 1.02028972e-02 -1.20134469e-02 1.49247838e+01] [-1.02066034e-02 9.99947881e-01 -2.47233403e-04 1.29777563e-01] [ 1.20102983e-02 3.69819181e-04 9.99927805e-01 -5.63473266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.860281693 meters Centerline goodness : 0.996144 with order 1 Centerline is valid? [True, True] Translation: X:14.98, Y:0.14, Z:-0.06 [[ 9.99887502e-01 8.98117240e-03 -1.20134275e-02 1.49827195e+01] [-8.98480180e-03 9.99959605e-01 -2.48174213e-04 1.37432623e-01] [ 1.20107133e-02 3.56084558e-04 9.99927805e-01 -5.57000253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.920281693 meters Centerline goodness : 0.996604 with order 1 Centerline is valid? [True, True] Translation: X:15.04, Y:0.15, Z:-0.06 [[ 9.99919989e-01 3.96148599e-03 -1.20133998e-02 1.50402334e+01] [-3.96476935e-03 9.99992109e-01 -2.49504434e-04 1.45106775e-01] [ 1.20123166e-02 2.97114830e-04 9.99927805e-01 -5.69317641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.980281693000002 meters Centerline goodness : 0.996704 with order 1 Centerline is valid? [True, True] Translation: X:15.10, Y:0.15, Z:-0.06 [[ 9.99927806e-01 2.46332072e-04 -1.20133836e-02 1.50989253e+01] [-2.49356796e-04 9.99999938e-01 -2.50282297e-04 1.48990743e-01] [ 1.20133212e-02 2.53259847e-04 9.99927805e-01 -5.69639958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.040281693 meters Centerline goodness : 0.996909 with order 1 Centerline is valid? [True, True] Translation: X:15.16, Y:0.15, Z:-0.05 [[ 9.99920104e-01 -3.93249197e-03 -1.20133723e-02 1.51581196e+01] [ 3.92976219e-03 9.99992247e-01 -2.50825901e-04 1.52797626e-01] [ 1.20142655e-02 2.03596164e-04 9.99927805e-01 -5.48938913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.100281693 meters Centerline goodness : 0.997153 with order 1 Centerline is valid? [True, True] Translation: X:15.21, Y:0.16, Z:-0.05 [[ 9.99893337e-01 -8.30621319e-03 -1.20133610e-02 1.52149486e+01] [ 8.30379252e-03 9.99965491e-01 -2.51365628e-04 1.56617032e-01] [ 1.20150343e-02 1.51582359e-04 9.99927805e-01 -5.30423176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.160281693 meters Centerline goodness : 0.997224 with order 1 Centerline is valid? [True, True] Translation: X:15.27, Y:0.16, Z:-0.05 [[ 9.99862972e-01 -1.13893003e-02 -1.20133414e-02 1.52724122e+01] [ 1.13870909e-02 9.99935133e-01 -2.52296937e-04 1.61545081e-01] [ 1.20154357e-02 1.15465354e-04 9.99927805e-01 -5.37423694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.220281693 meters Centerline goodness : 0.997096 with order 1 Centerline is valid? [True, True] Translation: X:15.33, Y:0.16, Z:-0.04 [[ 9.99784341e-01 -1.69396461e-02 -1.20132966e-02 1.53309832e+01] [ 1.69378119e-02 9.99856513e-01 -2.54412511e-04 1.64314284e-01] [ 1.20158825e-02 5.08786855e-05 9.99927805e-01 -4.41953674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.280281693 meters Centerline goodness : 0.997598 with order 1 Centerline is valid? [True, True] Translation: X:15.39, Y:0.16, Z:-0.04 [[ 9.99660510e-01 -2.31202594e-02 -1.20132542e-02 1.53876679e+01] [ 2.31188476e-02 9.99732691e-01 -2.56399402e-04 1.61665683e-01] [ 1.20159710e-02 -2.14202369e-05 9.99927805e-01 -4.11098698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.340281693 meters Centerline goodness : 0.997432 with order 1 Centerline is valid? [True, True] Translation: X:15.45, Y:0.16, Z:-0.04 [[ 9.99501025e-01 -2.92127412e-02 -1.20132208e-02 1.54457803e+01] [ 2.92117507e-02 9.99573212e-01 -2.57954873e-04 1.57037411e-01] [ 1.20156293e-02 -9.31010515e-05 9.99927805e-01 -4.45144731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.400281693 meters Centerline goodness : 0.997782 with order 1 Centerline is valid? [True, True] Translation: X:15.50, Y:0.16, Z:-0.05 [[ 9.99471289e-01 -3.02130240e-02 -1.20131770e-02 1.55036812e+01] [ 3.02120814e-02 9.99543477e-01 -2.59978541e-04 1.55688909e-01] [ 1.20155475e-02 -1.03101995e-04 9.99927805e-01 -4.83522046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.460281693000002 meters Centerline goodness : 0.997748 with order 1 Centerline is valid? [True, True] Translation: X:15.56, Y:0.15, Z:-0.05 [[ 9.99580973e-01 -2.63355686e-02 -1.20131286e-02 1.55620275e+01] [ 2.63343193e-02 9.99653157e-01 -2.62195784e-04 1.53137770e-01] [ 1.20158670e-02 -5.42716481e-05 9.99927805e-01 -4.70617012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.520281693 meters Centerline goodness : 0.998135 with order 1 Centerline is valid? [True, True] Translation: X:15.62, Y:0.15, Z:-0.05 [[ 9.99695695e-01 -2.15453625e-02 -1.20130804e-02 1.56196369e+01] [ 2.15437409e-02 9.99767872e-01 -2.64387554e-04 1.53335074e-01] [ 1.20159882e-02 5.50040807e-06 9.99927805e-01 -4.85622230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.580281693 meters Centerline goodness : 0.998093 with order 1 Centerline is valid? [True, True] Translation: X:15.68, Y:0.16, Z:-0.05 [[ 9.99760820e-01 -1.82753647e-02 -1.20130306e-02 1.56765073e+01] [ 1.82734801e-02 9.99832990e-01 -2.66631374e-04 1.56386890e-01] [ 1.20158971e-02 4.70477249e-05 9.99927805e-01 -4.81524338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.640281693000002 meters Centerline goodness : 0.997782 with order 1 Centerline is valid? [True, True] Translation: X:15.73, Y:0.16, Z:-0.05 [[ 9.99829056e-01 -1.40551178e-02 -1.20130090e-02 1.57345440e+01] [ 1.40529169e-02 9.99901217e-01 -2.67600306e-04 1.63386267e-01] [ 1.20155835e-02 9.87367436e-05 9.99927805e-01 -4.65174119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.700281693 meters Centerline goodness : 0.997886 with order 1 Centerline is valid? [True, True] Translation: X:15.79, Y:0.17, Z:-0.05 [[ 9.99841888e-01 -1.31106115e-02 -1.20129595e-02 1.57922141e+01] [ 1.31083160e-02 9.99914046e-01 -2.69803924e-04 1.68495584e-01] [ 1.20154643e-02 1.12291595e-04 9.99927805e-01 -4.67474266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.760281693 meters Centerline goodness : 0.997902 with order 1 Centerline is valid? [True, True] Translation: X:15.85, Y:0.17, Z:-0.05 [[ 9.99813401e-01 -1.51278736e-02 -1.20129100e-02 1.58492495e+01] [ 1.51256975e-02 9.99885563e-01 -2.71992707e-04 1.71088291e-01] [ 1.20156499e-02 9.02383116e-05 9.99927805e-01 -4.61573695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.820281693000002 meters Centerline goodness : 0.997787 with order 1 Centerline is valid? [True, True] Translation: X:15.91, Y:0.17, Z:-0.05 [[ 9.99700478e-01 -2.13224050e-02 -1.20128758e-02 1.59071826e+01] [ 2.13206579e-02 9.99772652e-01 -2.73492923e-04 1.74119004e-01] [ 1.20159762e-02 1.72885898e-05 9.99927805e-01 -4.82129398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.880281693 meters Centerline goodness : 0.998002 with order 1 Centerline is valid? [True, True] Translation: X:15.97, Y:0.17, Z:-0.05 [[ 9.99605182e-01 -2.54002477e-02 -1.20128268e-02 1.59650884e+01] [ 2.53987694e-02 9.99677361e-01 -2.75628495e-04 1.73232301e-01] [ 1.20159520e-02 -2.95913466e-05 9.99927805e-01 -4.50114156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.940281693 meters Centerline goodness : 0.997880 with order 1 Centerline is valid? [True, True] Translation: X:16.02, Y:0.18, Z:-0.05 [[ 9.99628468e-01 -2.44666673e-02 -1.20128116e-02 1.60228380e+01] [ 2.44651136e-02 9.99700646e-01 -2.76290483e-04 1.76276390e-01] [ 1.20159754e-02 -1.77069678e-05 9.99927805e-01 -4.65886143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.000281693 meters Centerline goodness : 0.997878 with order 1 Centerline is valid? [True, True] Translation: X:16.08, Y:0.18, Z:-0.05 [[ 9.99638562e-01 -2.40507721e-02 -1.20127628e-02 1.60808812e+01] [ 2.40491631e-02 9.99710738e-01 -2.78397753e-04 1.76397997e-01] [ 1.20159836e-02 -1.05997609e-05 9.99927805e-01 -4.55472149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.060281693 meters Centerline goodness : 0.998151 with order 1 Centerline is valid? [True, True] Translation: X:16.14, Y:0.17, Z:-0.04 [[ 9.99685822e-01 -2.19989211e-02 -1.20127113e-02 1.61389571e+01] [ 2.19971375e-02 9.99757994e-01 -2.80599910e-04 1.74518947e-01] [ 1.20159771e-02 1.62664894e-05 9.99927805e-01 -4.29005350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.120281693 meters Centerline goodness : 0.998075 with order 1 Centerline is valid? [True, True] Translation: X:16.20, Y:0.17, Z:-0.04 [[ 9.99729104e-01 -1.99352594e-02 -1.20126953e-02 1.61973633e+01] [ 1.99333186e-02 9.99801272e-01 -2.81282951e-04 1.73851671e-01] [ 1.20159155e-02 4.17538693e-05 9.99927805e-01 -3.96707759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.180281693 meters Centerline goodness : 0.998084 with order 1 Centerline is valid? [True, True] Translation: X:16.26, Y:0.17, Z:-0.04 [[ 9.99789147e-01 -1.66540370e-02 -1.20126442e-02 1.62553556e+01] [ 1.66518333e-02 9.99861308e-01 -2.83450099e-04 1.72956003e-01] [ 1.20156987e-02 8.33577846e-05 9.99927805e-01 -3.80725716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.240281693 meters Centerline goodness : 0.998433 with order 1 Centerline is valid? [True, True] Translation: X:16.31, Y:0.17, Z:-0.04 [[ 9.99872668e-01 -1.05045718e-02 -1.20125931e-02 1.63133459e+01] [ 1.05018986e-02 9.99944813e-01 -2.85599068e-04 1.74505584e-01] [ 1.20149302e-02 1.59407667e-04 9.99927805e-01 -3.73219876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.300281693000002 meters Centerline goodness : 0.998353 with order 1 Centerline is valid? [True, True] Translation: X:16.37, Y:0.18, Z:-0.04 [[ 9.99903349e-01 -6.99941585e-03 -1.20125420e-02 1.63715796e+01] [ 6.99646405e-03 9.99975483e-01 -2.87733442e-04 1.75694862e-01] [ 1.20142614e-02 2.03660315e-04 9.99927805e-01 -3.72525553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.360281693 meters Centerline goodness : 0.998086 with order 1 Centerline is valid? [True, True] Translation: X:16.43, Y:0.18, Z:-0.04 [[ 9.99905375e-01 -6.70388833e-03 -1.20124878e-02 1.64285878e+01] [ 6.70088827e-03 9.99977507e-01 -2.89976793e-04 1.79434339e-01] [ 1.20141616e-02 2.09455015e-04 9.99927805e-01 -3.72754944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.420281693 meters Centerline goodness : 0.998247 with order 1 Centerline is valid? [True, True] Translation: X:16.49, Y:0.18, Z:-0.03 [[ 9.99917063e-01 -4.64407383e-03 -1.20124643e-02 1.64850493e+01] [ 4.64091352e-03 9.99989189e-01 -2.90947718e-04 1.84668031e-01] [ 1.20136856e-02 2.35174780e-04 9.99927805e-01 -3.38844180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.480281693000002 meters Centerline goodness : 0.998334 with order 1 Centerline is valid? [True, True] Translation: X:16.54, Y:0.19, Z:-0.03 [[ 9.99906078e-01 -6.59824527e-03 -1.20124412e-02 1.65420204e+01] [ 6.59521453e-03 9.99978209e-01 -2.91896872e-04 1.92539143e-01] [ 1.20141055e-02 2.12644830e-04 9.99927805e-01 -3.18160545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.540281693 meters Centerline goodness : 0.998103 with order 1 Centerline is valid? [True, True] Translation: X:16.60, Y:0.20, Z:-0.03 [[ 9.99883041e-01 -9.46605492e-03 -1.20124065e-02 1.65995612e+01] [ 9.46321399e-03 9.99955180e-01 -2.93319626e-04 1.97514083e-01] [ 1.20146447e-02 1.79609347e-04 9.99927805e-01 -2.96956345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.600281693 meters Centerline goodness : 0.998218 with order 1 Centerline is valid? [True, True] Translation: X:16.66, Y:0.20, Z:-0.03 [[ 9.99855257e-01 -1.20485640e-02 -1.20123564e-02 1.66577698e+01] [ 1.20458849e-02 9.99927402e-01 -2.95355958e-04 2.03869088e-01] [ 1.20150430e-02 1.50613745e-04 9.99927805e-01 -3.15974412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.660281693 meters Centerline goodness : 0.998533 with order 1 Centerline is valid? [True, True] Translation: X:16.71, Y:0.21, Z:-0.03 [[ 9.99793084e-01 -1.64162434e-02 -1.20122996e-02 1.67145891e+01] [ 1.64138520e-02 9.99865239e-01 -2.97648714e-04 2.09739215e-01] [ 1.20155671e-02 1.00419019e-04 9.99927805e-01 -3.10565624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.720281693 meters Centerline goodness : 0.998511 with order 1 Centerline is valid? [True, True] Translation: X:16.77, Y:0.21, Z:-0.03 [[ 9.99743705e-01 -1.91892927e-02 -1.20122751e-02 1.67726195e+01] [ 1.91870895e-02 9.99815866e-01 -2.98635561e-04 2.12174300e-01] [ 1.20157938e-02 6.80784253e-05 9.99927805e-01 -3.05220789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.780281693 meters Centerline goodness : 0.998134 with order 1 Centerline is valid? [True, True] Translation: X:16.83, Y:0.21, Z:-0.03 [[ 9.99513465e-01 -2.87843565e-02 -1.20122187e-02 1.68295420e+01] [ 2.87828191e-02 9.99585644e-01 -3.00884879e-04 2.11783687e-01] [ 1.20159022e-02 -4.50070310e-05 9.99927805e-01 -3.29086283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.840281693 meters Centerline goodness : 0.998535 with order 1 Centerline is valid? [True, True] Translation: X:16.89, Y:0.21, Z:-0.03 [[ 9.99271880e-01 -3.62134971e-02 -1.20121799e-02 1.68870780e+01] [ 3.62124777e-02 9.99344067e-01 -3.02428835e-04 2.11109970e-01] [ 1.20152527e-02 -1.32782164e-04 9.99927805e-01 -3.06952589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.900281693 meters Centerline goodness : 0.998320 with order 1 Centerline is valid? [True, True] Translation: X:16.94, Y:0.21, Z:-0.03 [[ 9.99176817e-01 -3.87478789e-02 -1.20121239e-02 1.69447048e+01] [ 3.87470161e-02 9.99249006e-01 -3.04633877e-04 2.07681426e-01] [ 1.20149068e-02 -1.61050852e-04 9.99927805e-01 -3.48194597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.960281693000002 meters Centerline goodness : 0.998296 with order 1 Centerline is valid? [True, True] Translation: X:17.00, Y:0.21, Z:-0.03 [[ 9.99209904e-01 -3.78850618e-02 -1.20120999e-02 1.70031127e+01] [ 3.78841253e-02 9.99282092e-01 -3.05578930e-04 2.06170739e-01] [ 1.20150532e-02 -1.49730405e-04 9.99927805e-01 -3.40886256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.020281693 meters Centerline goodness : 0.998302 with order 1 Centerline is valid? [True, True] Translation: X:17.06, Y:0.20, Z:-0.03 [[ 9.99421608e-01 -3.18144612e-02 -1.20120415e-02 1.70603849e+01] [ 3.18130588e-02 9.99493789e-01 -3.07858789e-04 2.03327384e-01] [ 1.20157552e-02 -7.44590554e-05 9.99927805e-01 -3.48501559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.080281693 meters Centerline goodness : 0.998083 with order 1 Centerline is valid? [True, True] Translation: X:17.12, Y:0.20, Z:-0.03 [[ 9.99578922e-01 -2.64138384e-02 -1.20120161e-02 1.71182290e+01] [ 2.64120342e-02 9.99651094e-01 -3.08846227e-04 2.03674580e-01] [ 1.20159828e-02 -8.54560039e-06 9.99927805e-01 -3.45724205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.140281693000002 meters Centerline goodness : 0.998111 with order 1 Centerline is valid? [True, True] Translation: X:17.18, Y:0.20, Z:-0.03 [[ 9.99734110e-01 -1.96830387e-02 -1.20119594e-02 1.71760949e+01] [ 1.96807222e-02 9.99806267e-01 -3.11036235e-04 2.04376056e-01] [ 1.20157544e-02 7.45494979e-05 9.99927805e-01 -3.41483973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.200281693 meters Centerline goodness : 0.997886 with order 1 Centerline is valid? [True, True] Translation: X:17.24, Y:0.21, Z:-0.03 [[ 9.99824906e-01 -1.43482126e-02 -1.20119025e-02 1.72351871e+01] [ 1.43454849e-02 9.99897049e-01 -3.13215702e-04 2.06870471e-01] [ 1.20151600e-02 1.40844293e-04 9.99927805e-01 -2.92604516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.260281693 meters Centerline goodness : 0.997825 with order 1 Centerline is valid? [True, True] Translation: X:17.29, Y:0.21, Z:-0.03 [[ 9.99861747e-01 -1.14979680e-02 -1.20118511e-02 1.72921449e+01] [ 1.14950111e-02 9.99933881e-01 -3.15177573e-04 2.11613418e-01] [ 1.20146808e-02 1.77057637e-04 9.99927805e-01 -2.64554804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.320281693000002 meters Centerline goodness : 0.998160 with order 1 Centerline is valid? [True, True] Translation: X:17.35, Y:0.22, Z:-0.02 [[ 9.99887701e-01 -8.96110067e-03 -1.20118105e-02 1.73494321e+01] [ 8.95794230e-03 9.99959827e-01 -3.16716504e-04 2.18080480e-01] [ 1.20141661e-02 2.09079832e-04 9.99927805e-01 -2.35997683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.380281693 meters Centerline goodness : 0.998041 with order 1 Centerline is valid? [True, True] Translation: X:17.41, Y:0.23, Z:-0.02 [[ 9.99865242e-01 -1.11899457e-02 -1.20117504e-02 1.74069158e+01] [ 1.11869210e-02 9.99937374e-01 -3.18978611e-04 2.26934144e-01] [ 1.20145675e-02 1.84561123e-04 9.99927805e-01 -2.07050335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.440281693 meters Centerline goodness : 0.997849 with order 1 Centerline is valid? [True, True] Translation: X:17.46, Y:0.23, Z:-0.02 [[ 9.99801860e-01 -1.58732364e-02 -1.20116899e-02 1.74641812e+01] [ 1.58705224e-02 9.99874004e-01 -3.21241080e-04 2.30487202e-01] [ 1.20152756e-02 1.30545636e-04 9.99927805e-01 -2.12194035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.500281693 meters Centerline goodness : 0.997878 with order 1 Centerline is valid? [True, True] Translation: X:17.52, Y:0.23, Z:-0.02 [[ 9.99643939e-01 -2.38267889e-02 -1.20116636e-02 1.75220171e+01] [ 2.38246371e-02 9.99716101e-01 -3.22221722e-04 2.32719422e-01] [ 1.20159310e-02 3.59334646e-05 9.99927805e-01 -2.19509219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.560281693 meters Centerline goodness : 0.997683 with order 1 Centerline is valid? [True, True] Translation: X:17.58, Y:0.23, Z:-0.02 [[ 9.99494301e-01 -2.94425359e-02 -1.20116400e-02 1.75787736e+01] [ 2.94407790e-02 9.99566474e-01 -3.23098210e-04 2.33848869e-01] [ 1.20159455e-02 -3.06972203e-05 9.99927805e-01 -2.24016578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.620281693 meters Centerline goodness : 0.997662 with order 1 Centerline is valid? [True, True] Translation: X:17.64, Y:0.24, Z:-0.02 [[ 9.99447646e-01 -3.09858681e-02 -1.20116128e-02 1.76371633e+01] [ 3.09842106e-02 9.99519822e-01 -3.24106065e-04 2.35384923e-01] [ 1.20158878e-02 -4.82432979e-05 9.99927805e-01 -2.46535177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.680281693 meters Centerline goodness : 0.997738 with order 1 Centerline is valid? [True, True] Translation: X:17.69, Y:0.24, Z:-0.03 [[ 9.99476120e-01 -3.00534291e-02 -1.20115519e-02 1.76946565e+01] [ 3.00516773e-02 9.99548293e-01 -3.26347975e-04 2.36166002e-01] [ 1.20159341e-02 -3.47902739e-05 9.99927805e-01 -2.68921771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.740281693 meters Centerline goodness : 0.997148 with order 1 Centerline is valid? [True, True] Translation: X:17.75, Y:0.24, Z:-0.02 [[ 9.99525824e-01 -2.83522443e-02 -1.20115330e-02 1.77534510e+01] [ 2.83503613e-02 9.99597994e-01 -3.27041233e-04 2.38774539e-01] [ 1.20159767e-02 -1.36451437e-05 9.99927805e-01 -2.26488677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.800281693000002 meters Centerline goodness : 0.997580 with order 1 Centerline is valid? [True, True] Translation: X:17.81, Y:0.24, Z:-0.02 [[ 9.99567406e-01 -2.68463207e-02 -1.20114786e-02 1.78102354e+01] [ 2.68443051e-02 9.99639573e-01 -3.29029625e-04 2.40620507e-01] [ 1.20159825e-02 6.44749257e-06 9.99927805e-01 -2.21392280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.860281693 meters Centerline goodness : 0.997164 with order 1 Centerline is valid? [True, True] Translation: X:17.87, Y:0.24, Z:-0.02 [[ 9.99581687e-01 -2.63092508e-02 -1.20114516e-02 1.78674435e+01] [ 2.63071846e-02 9.99653852e-01 -3.30012271e-04 2.43609219e-01] [ 1.20159762e-02 1.38867489e-05 9.99927805e-01 -2.47511338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.920281693 meters Centerline goodness : 0.997303 with order 1 Centerline is valid? [True, True] Translation: X:17.93, Y:0.25, Z:-0.02 [[ 9.99501645e-01 -2.91922429e-02 -1.20114094e-02 1.79252885e+01] [ 2.91903665e-02 9.99573815e-01 -3.31538806e-04 2.45130368e-01] [ 1.20159687e-02 -1.92438615e-05 9.99927805e-01 -2.36913477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.980281693000002 meters Centerline goodness : 0.997397 with order 1 Centerline is valid? [True, True] Translation: X:17.98, Y:0.25, Z:-0.02 [[ 9.99439567e-01 -3.12454569e-02 -1.20113496e-02 1.79834383e+01] [ 3.12437029e-02 9.99511741e-01 -3.33691229e-04 2.47137474e-01] [ 1.20159113e-02 -4.17748224e-05 9.99927805e-01 -2.28122029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.040281693 meters Centerline goodness : 0.997410 with order 1 Centerline is valid? [True, True] Translation: X:18.04, Y:0.25, Z:-0.02 [[ 9.99382652e-01 -3.30157980e-02 -1.20112874e-02 1.80417777e+01] [ 3.30141452e-02 9.99454828e-01 -3.35916498e-04 2.49965156e-01] [ 1.20158297e-02 -6.08332655e-05 9.99927805e-01 -2.16685034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.100281693 meters Centerline goodness : 0.997531 with order 1 Centerline is valid? [True, True] Translation: X:18.10, Y:0.25, Z:-0.02 [[ 9.99326435e-01 -3.46757275e-02 -1.20112232e-02 1.80998267e+01] [ 3.46741671e-02 9.99398613e-01 -3.38197340e-04 2.52672892e-01] [ 1.20157270e-02 -7.85096181e-05 9.99927805e-01 -1.66745793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.160281693 meters Centerline goodness : 0.997352 with order 1 Centerline is valid? [True, True] Translation: X:18.16, Y:0.25, Z:-0.02 [[ 9.99110535e-01 -4.04211477e-02 -1.20112034e-02 1.81582735e+01] [ 4.04199939e-02 9.99182721e-01 -3.38899631e-04 2.52977850e-01] [ 1.20150856e-02 -1.46894576e-04 9.99927805e-01 -1.76829558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.220281693 meters Centerline goodness : 0.997422 with order 1 Centerline is valid? [True, True] Translation: X:18.22, Y:0.25, Z:-0.02 [[ 9.98903333e-01 -4.52533257e-02 -1.20111410e-02 1.82165171e+01] [ 4.52524946e-02 9.98975523e-01 -3.41096437e-04 2.53775785e-01] [ 1.20142716e-02 -2.02811725e-04 9.99927805e-01 -1.86399746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.280281693 meters Centerline goodness : 0.996921 with order 1 Centerline is valid? [True, True] Translation: X:18.27, Y:0.25, Z:-0.02 [[ 9.98506562e-01 -5.32952073e-02 -1.20110789e-02 1.82747552e+01] [ 5.32949314e-02 9.98578756e-01 -3.43270106e-04 2.48770697e-01] [ 1.20123029e-02 -2.97372171e-04 9.99927805e-01 -2.01419875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.340281693 meters Centerline goodness : 0.997099 with order 1 Centerline is valid? [True, True] Translation: X:18.33, Y:0.24, Z:-0.02 [[ 9.98264956e-01 -5.76438515e-02 -1.20110159e-02 1.83317026e+01] [ 5.76438638e-02 9.98337150e-01 -3.45459592e-04 2.44805446e-01] [ 1.20109570e-02 -3.47501160e-04 9.99927805e-01 -1.94883061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.400281693 meters Centerline goodness : 0.996695 with order 1 Centerline is valid? [True, True] Translation: X:18.39, Y:0.23, Z:-0.02 [[ 9.97937616e-01 -6.30575153e-02 -1.20109886e-02 1.83902837e+01] [ 6.30579077e-02 9.98009810e-01 -3.46406686e-04 2.33629023e-01] [ 1.20089280e-02 -4.11695548e-04 9.99927805e-01 -2.04322970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.460281693000002 meters Centerline goodness : 0.996397 with order 1 Centerline is valid? [True, True] Translation: X:18.45, Y:0.22, Z:-0.02 [[ 9.97857305e-01 -6.43159098e-02 -1.20109272e-02 1.84471694e+01] [ 6.43163679e-02 9.97929498e-01 -3.48520390e-04 2.22835251e-01] [ 1.20084740e-02 -4.24725598e-04 9.99927805e-01 -2.02669389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.520281693 meters Centerline goodness : 0.996461 with order 1 Centerline is valid? [True, True] Translation: X:18.51, Y:0.21, Z:-0.02 [[ 9.98120335e-01 -6.00960539e-02 -1.20108853e-02 1.85058988e+01] [ 6.00961895e-02 9.98192529e-01 -3.49960200e-04 2.11984021e-01] [ 1.20102072e-02 -3.72506047e-04 9.99927805e-01 -1.72578353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.580281693 meters Centerline goodness : 0.996375 with order 1 Centerline is valid? [True, True] Translation: X:18.56, Y:0.21, Z:-0.01 [[ 9.98282789e-01 -5.73342277e-02 -1.20108242e-02 1.85635081e+01] [ 5.73341384e-02 9.98354983e-01 -3.52044119e-04 2.10738840e-01] [ 1.20112504e-02 -3.37190673e-04 9.99927805e-01 -1.36187354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.640281693000002 meters Centerline goodness : 0.996393 with order 1 Centerline is valid? [True, True] Translation: X:18.62, Y:0.20, Z:-0.01 [[ 9.98705239e-01 -4.94326617e-02 -1.20107625e-02 1.86217889e+01] [ 4.94319760e-02 9.98777430e-01 -3.54135594e-04 2.02877009e-01] [ 1.20135844e-02 -2.40038653e-04 9.99927805e-01 -1.10679679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.700281693 meters Centerline goodness : 0.996174 with order 1 Centerline is valid? [True, True] Translation: X:18.68, Y:0.20, Z:-0.01 [[ 9.98874643e-01 -4.58823506e-02 -1.20107008e-02 1.86798778e+01] [ 4.58813833e-02 9.98946831e-01 -3.56216677e-04 2.00362734e-01] [ 1.20143956e-02 -1.95251762e-04 9.99927805e-01 -1.43770776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.760281693 meters Centerline goodness : 0.995917 with order 1 Centerline is valid? [True, True] Translation: X:18.74, Y:0.20, Z:-0.02 [[ 9.99142918e-01 -3.96128056e-02 -1.20106345e-02 1.87377512e+01] [ 3.96113585e-02 9.99215098e-01 -3.58440219e-04 1.97647053e-01] [ 1.20154061e-02 -1.17624542e-04 9.99927805e-01 -1.81324638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.820281693000002 meters Centerline goodness : 0.995704 with order 1 Centerline is valid? [True, True] Translation: X:18.80, Y:0.20, Z:-0.01 [[ 9.99341953e-01 -3.42258146e-02 -1.20106139e-02 1.87967436e+01] [ 3.42239702e-02 9.99414124e-01 -3.59127735e-04 2.00641238e-01] [ 1.20158686e-02 -5.21594800e-05 9.99927805e-01 -1.39126653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.880281693 meters Centerline goodness : 0.996047 with order 1 Centerline is valid? [True, True] Translation: X:18.85, Y:0.21, Z:-0.01 [[ 9.99538281e-01 -2.79100617e-02 -1.20105547e-02 1.88534440e+01] [ 2.79077375e-02 9.99610438e-01 -3.61098467e-04 2.08015393e-01] [ 1.20159541e-02 2.57443342e-05 9.99927805e-01 -1.19502383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.940281693 meters Centerline goodness : 0.995775 with order 1 Centerline is valid? [True, True] Translation: X:18.91, Y:0.21, Z:-0.01 [[ 9.99590291e-01 -2.59807040e-02 -1.20105251e-02 1.89109034e+01] [ 2.59782288e-02 9.99662443e-01 -3.62079017e-04 2.13535165e-01] [ 1.20158779e-02 4.99185012e-05 9.99927805e-01 -1.07084864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.000281693 meters Centerline goodness : 0.996202 with order 1 Centerline is valid? [True, True] Translation: X:18.97, Y:0.23, Z:-0.01 [[ 9.99544489e-01 -2.76868924e-02 -1.20104593e-02 1.89688145e+01] [ 2.76845143e-02 9.99616644e-01 -3.64248480e-04 2.25387069e-01] [ 1.20159399e-02 3.15788278e-05 9.99927805e-01 -7.44157556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.060281693 meters Centerline goodness : 0.995770 with order 1 Centerline is valid? [True, True] Translation: X:19.03, Y:0.24, Z:-0.01 [[ 9.99508899e-01 -2.89432424e-02 -1.20103926e-02 1.90250888e+01] [ 2.89409287e-02 9.99581056e-01 -3.66435250e-04 2.36976032e-01] [ 1.20159667e-02 1.86633779e-05 9.99927805e-01 -8.42575622e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.120281693 meters Centerline goodness : 0.995791 with order 1 Centerline is valid? [True, True] Translation: X:19.08, Y:0.25, Z:-0.01 [[ 9.99505110e-01 -2.90738203e-02 -1.20103636e-02 1.90820461e+01] [ 2.90715046e-02 9.99577267e-01 -3.67383928e-04 2.45471952e-01] [ 1.20159676e-02 1.80427733e-05 9.99927805e-01 -8.02230538e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.180281693 meters Centerline goodness : 0.995912 with order 1 Centerline is valid? [True, True] Translation: X:19.14, Y:0.25, Z:-0.01 [[ 9.99352034e-01 -3.39302900e-02 -1.20103350e-02 1.91401325e+01] [ 3.39283138e-02 9.99424201e-01 -3.68316582e-04 2.52117882e-01] [ 1.20159165e-02 -3.94124876e-05 9.99927805e-01 -6.14800194e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.240281693 meters Centerline goodness : 0.996196 with order 1 Centerline is valid? [True, True] Translation: X:19.20, Y:0.26, Z:-0.00 [[ 9.99092665e-01 -4.08607547e-02 -1.20102633e-02 1.91978406e+01] [ 4.08592511e-02 9.99164843e-01 -3.70639362e-04 2.55386642e-01] [ 1.20153774e-02 -1.20427296e-04 9.99927805e-01 -1.86373940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.300281693000002 meters Centerline goodness : 0.996174 with order 1 Centerline is valid? [True, True] Translation: X:19.26, Y:0.26, Z:-0.00 [[ 9.98952880e-01 -4.41463223e-02 -1.20102411e-02 1.92550413e+01] [ 4.41450475e-02 9.99025063e-01 -3.71355925e-04 2.58105158e-01] [ 1.20149259e-02 -1.59225595e-04 9.99927805e-01 -3.98050251e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.360281693 meters Centerline goodness : 0.996085 with order 1 Centerline is valid? [True, True] Translation: X:19.31, Y:0.26, Z:-0.01 [[ 9.98719803e-01 -4.91376590e-02 -1.20102123e-02 1.93135573e+01] [ 4.91367337e-02 9.98791992e-01 -3.72285904e-04 2.58212913e-01] [ 1.20139971e-02 -2.18333299e-04 9.99927805e-01 -7.47423889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.420281693 meters Centerline goodness : 0.996249 with order 1 Centerline is valid? [True, True] Translation: X:19.37, Y:0.25, Z:-0.00 [[ 9.98527056e-01 -5.29100674e-02 -1.20101526e-02 1.93720327e+01] [ 5.29093918e-02 9.98599247e-01 -3.74200566e-04 2.54877714e-01] [ 1.20131284e-02 -2.61800482e-04 9.99927805e-01 -3.12918283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.480281693000002 meters Centerline goodness : 0.996415 with order 1 Centerline is valid? [True, True] Translation: X:19.43, Y:0.25, Z:-0.00 [[ 9.98367406e-01 -5.58415680e-02 -1.20100929e-02 1.94303049e+01] [ 5.58410815e-02 9.98439599e-01 -3.76107758e-04 2.51384882e-01] [ 1.20123548e-02 -2.95162851e-04 9.99927805e-01 -7.93478806e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.540281693 meters Centerline goodness : 0.996372 with order 1 Centerline is valid? [True, True] Translation: X:19.49, Y:0.25, Z:-0.00 [[ 9.98397055e-01 -5.53089499e-02 -1.20100222e-02 1.94877211e+01] [ 5.53083979e-02 9.98469247e-01 -3.78353385e-04 2.52179867e-01] [ 1.20125641e-02 -2.86508179e-04 9.99927806e-01 -4.38772385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.600281693 meters Centerline goodness : 0.996303 with order 1 Centerline is valid? [True, True] Translation: X:19.55, Y:0.25, Z:-0.00 [[ 9.98509659e-01 -5.32374073e-02 -1.20100004e-02 1.95458179e+01] [ 5.32366972e-02 9.98581850e-01 -3.79042675e-04 2.46621974e-01] [ 1.20131477e-02 -2.60894983e-04 9.99927806e-01 -5.74506133e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.660281693 meters Centerline goodness : 0.996521 with order 1 Centerline is valid? [True, True] Translation: X:19.60, Y:0.24, Z:0.00 [[ 9.98677644e-01 -4.99872440e-02 -1.20099289e-02 1.96037501e+01] [ 4.99862718e-02 9.98749832e-01 -3.81294316e-04 2.42400252e-01] [ 1.20139744e-02 -2.19541464e-04 9.99927806e-01 1.37308084e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.720281693 meters Centerline goodness : 0.996180 with order 1 Centerline is valid? [True, True] Translation: X:19.66, Y:0.24, Z:-0.00 [[ 9.98897571e-01 -4.53806868e-02 -1.20098565e-02 1.96613053e+01] [ 4.53793545e-02 9.98969753e-01 -3.83561808e-04 2.40227273e-01] [ 1.20148897e-02 -1.61860578e-04 9.99927806e-01 -1.68741682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.780281693 meters Centerline goodness : 0.996324 with order 1 Centerline is valid? [True, True] Translation: X:19.72, Y:0.24, Z:-0.00 [[ 9.99244497e-01 -3.69621258e-02 -1.20098340e-02 1.97188621e+01] [ 3.69601768e-02 9.99316665e-01 -3.84264454e-04 2.40498632e-01] [ 1.20158305e-02 -5.99114488e-05 9.99927806e-01 -1.14722395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.840281693 meters Centerline goodness : 0.996387 with order 1 Centerline is valid? [True, True] Translation: X:19.78, Y:0.24, Z:0.00 [[ 9.99489845e-01 -2.95941778e-02 -1.20097661e-02 1.97764767e+01] [ 2.95916715e-02 9.99561996e-01 -3.86375247e-04 2.41021508e-01] [ 1.20159403e-02 3.07890811e-05 9.99927806e-01 8.11449263e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.900281693 meters Centerline goodness : 0.996241 with order 1 Centerline is valid? [True, True] Translation: X:19.83, Y:0.24, Z:-0.00 [[ 9.99499299e-01 -2.92731556e-02 -1.20096921e-02 1.98343919e+01] [ 2.92705986e-02 9.99571449e-01 -3.88662018e-04 2.40496216e-01] [ 1.20159227e-02 3.69365369e-05 9.99927806e-01 -5.58214720e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.960281693000002 meters Centerline goodness : 0.996377 with order 1 Centerline is valid? [True, True] Translation: X:19.89, Y:0.24, Z:-0.00 [[ 9.99455629e-01 -3.07280652e-02 -1.20096694e-02 1.98936908e+01] [ 3.07256049e-02 9.99527781e-01 -3.89362150e-04 2.42238970e-01] [ 1.20159626e-02 2.01458354e-05 9.99927806e-01 -2.59092987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.020281693 meters Centerline goodness : 0.996529 with order 1 Centerline is valid? [True, True] Translation: X:19.95, Y:0.24, Z:-0.00 [[ 9.99503262e-01 -2.91375848e-02 -1.20096106e-02 1.99519538e+01] [ 2.91349880e-02 9.99575410e-01 -3.91169192e-04 2.43912077e-01] [ 1.20159091e-02 4.10750235e-05 9.99927806e-01 -5.17061194e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.080281693 meters Centerline goodness : 0.996677 with order 1 Centerline is valid? [True, True] Translation: X:20.01, Y:0.25, Z:0.00 [[ 9.99571841e-01 -2.66815672e-02 -1.20095384e-02 2.00100850e+01] [ 2.66787666e-02 9.99643981e-01 -3.93371474e-04 2.46528480e-01] [ 1.20157586e-02 7.28033757e-05 9.99927806e-01 1.29452414e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.140281693000002 meters Centerline goodness : 0.996352 with order 1 Centerline is valid? [True, True] Translation: X:20.07, Y:0.25, Z:0.00 [[ 9.99535917e-01 -2.79950691e-02 -1.20094639e-02 2.00682118e+01] [ 2.79923361e-02 9.99608059e-01 -3.95633524e-04 2.49037400e-01] [ 1.20158327e-02 5.92769667e-05 9.99927806e-01 6.83927217e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.200281693 meters Centerline goodness : 0.996356 with order 1 Centerline is valid? [True, True] Translation: X:20.13, Y:0.25, Z:-0.00 [[ 9.99451867e-01 -3.08502920e-02 -1.20093895e-02 2.01264065e+01] [ 3.08477382e-02 9.99524016e-01 -3.97879033e-04 2.49077794e-01] [ 1.20159479e-02 2.71984385e-05 9.99927806e-01 -2.75209997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.260281693 meters Centerline goodness : 0.996470 with order 1 Centerline is valid? [True, True] Translation: X:20.18, Y:0.25, Z:0.00 [[ 9.99293623e-01 -3.56094185e-02 -1.20093666e-02 2.01839374e+01] [ 3.56072000e-02 9.99365783e-01 -3.98570712e-04 2.49732409e-01] [ 1.20159429e-02 -2.93307455e-05 9.99927806e-01 1.83446124e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.320281693000002 meters Centerline goodness : 0.996763 with order 1 Centerline is valid? [True, True] Translation: X:20.24, Y:0.25, Z:0.01 [[ 9.99192473e-01 -3.83428976e-02 -1.20092934e-02 2.02421443e+01] [ 3.83408501e-02 9.99264639e-01 -4.00763001e-04 2.52225297e-01] [ 1.20158287e-02 -6.00071441e-05 9.99927806e-01 9.20206552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.380281693 meters Centerline goodness : 0.996810 with order 1 Centerline is valid? [True, True] Translation: X:20.30, Y:0.26, Z:0.01 [[ 9.99097870e-01 -4.07335685e-02 -1.20092577e-02 2.03009819e+01] [ 4.07316808e-02 9.99170040e-01 -4.01830136e-04 2.56025438e-01] [ 1.20156585e-02 -8.76896185e-05 9.99927806e-01 1.10220175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.440281693 meters Centerline goodness : 0.996691 with order 1 Centerline is valid? [True, True] Translation: X:20.36, Y:0.26, Z:0.01 [[ 9.98972795e-01 -4.36936418e-02 -1.20091920e-02 2.03580766e+01] [ 4.36919445e-02 9.99044969e-01 -4.03784021e-04 2.57892622e-01] [ 1.20153657e-02 -1.21335699e-04 9.99927806e-01 1.14011878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.500281693 meters Centerline goodness : 0.996918 with order 1 Centerline is valid? [True, True] Translation: X:20.42, Y:0.26, Z:0.01 [[ 9.98933792e-01 -4.45764474e-02 -1.20091595e-02 2.04164430e+01] [ 4.45748023e-02 9.99005968e-01 -4.04747293e-04 2.62114623e-01] [ 1.20152642e-02 -1.30990164e-04 9.99927806e-01 1.17339439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.560281693 meters Centerline goodness : 0.996815 with order 1 Centerline is valid? [True, True] Translation: X:20.47, Y:0.27, Z:0.01 [[ 9.98992865e-01 -4.32323676e-02 -1.20090894e-02 2.04744812e+01] [ 4.32306005e-02 9.99065038e-01 -4.06817524e-04 2.68365638e-01] [ 1.20154490e-02 -1.12752342e-04 9.99927806e-01 7.36324972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.620281693 meters Centerline goodness : 0.996808 with order 1 Centerline is valid? [True, True] Translation: X:20.53, Y:0.28, Z:0.01 [[ 9.99089790e-01 -4.09313325e-02 -1.20090662e-02 2.05333585e+01] [ 4.09293910e-02 9.99161958e-01 -4.07500769e-04 2.75214093e-01] [ 1.20156817e-02 -8.43939090e-05 9.99927806e-01 6.68656167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.680281693 meters Centerline goodness : 0.996858 with order 1 Centerline is valid? [True, True] Translation: X:20.59, Y:0.28, Z:0.01 [[ 9.99114618e-01 -4.03207579e-02 -1.20089994e-02 2.05907736e+01] [ 4.03187488e-02 9.99186785e-01 -4.09460717e-04 2.79837101e-01] [ 1.20157433e-02 -7.50896418e-05 9.99927806e-01 8.89343873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.740281693 meters Centerline goodness : 0.996820 with order 1 Centerline is valid? [True, True] Translation: X:20.65, Y:0.28, Z:0.01 [[ 9.98987071e-01 -4.33660835e-02 -1.20089757e-02 2.06495007e+01] [ 4.33642860e-02 9.99059243e-01 -4.10153782e-04 2.81086120e-01] [ 1.20154650e-02 -1.11022333e-04 9.99927806e-01 1.38488325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.800281693000002 meters Centerline goodness : 0.996808 with order 1 Centerline is valid? [True, True] Translation: X:20.71, Y:0.28, Z:0.01 [[ 9.98917028e-01 -4.49506142e-02 -1.20089083e-02 2.07076041e+01] [ 4.49489076e-02 9.98989202e-01 -4.12117502e-04 2.81685915e-01] [ 1.20152947e-02 -1.28116120e-04 9.99927806e-01 1.24502114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.860281693 meters Centerline goodness : 0.996906 with order 1 Centerline is valid? [True, True] Translation: X:20.77, Y:0.28, Z:0.02 [[ 9.99004608e-01 -4.29602145e-02 -1.20088845e-02 2.07666050e+01] [ 4.29583557e-02 9.99076778e-01 -4.12810562e-04 2.80753737e-01] [ 1.20155321e-02 -1.03482279e-04 9.99927806e-01 1.64654305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.920281693 meters Centerline goodness : 0.996702 with order 1 Centerline is valid? [True, True] Translation: X:20.83, Y:0.28, Z:0.01 [[ 9.99074789e-01 -4.12959312e-02 -1.20088176e-02 2.08259956e+01] [ 4.12939289e-02 9.99146956e-01 -4.14748615e-04 2.81856954e-01] [ 1.20157010e-02 -8.15263737e-05 9.99927806e-01 1.18037467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.980281693000002 meters Centerline goodness : 0.996370 with order 1 Centerline is valid? [True, True] Translation: X:20.88, Y:0.28, Z:0.01 [[ 9.99111697e-01 -4.03931429e-02 -1.20087809e-02 2.08836182e+01] [ 4.03910627e-02 9.99183862e-01 -4.15807427e-04 2.80636941e-01] [ 1.20157759e-02 -6.96093595e-05 9.99927806e-01 8.98087855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.040281693 meters Centerline goodness : 0.997202 with order 1 Centerline is valid? [True, True] Translation: X:20.94, Y:0.28, Z:0.02 [[ 9.99289285e-01 -3.57311513e-02 -1.20087570e-02 2.09419296e+01] [ 3.57287261e-02 9.99361438e-01 -4.16497856e-04 2.84491680e-01] [ 1.20159706e-02 -1.28557445e-05 9.99927806e-01 2.08910603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.100281693 meters Centerline goodness : 0.997019 with order 1 Centerline is valid? [True, True] Translation: X:21.00, Y:0.29, Z:0.02 [[ 9.99442952e-01 -3.11380319e-02 -1.20086892e-02 2.09994107e+01] [ 3.11352517e-02 9.99515093e-01 -4.18443603e-04 2.90735807e-01] [ 1.20158956e-02 4.43169499e-05 9.99927806e-01 2.08679219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.160281693 meters Centerline goodness : 0.996689 with order 1 Centerline is valid? [True, True] Translation: X:21.06, Y:0.30, Z:0.02 [[ 9.99651287e-01 -2.35180199e-02 -1.20086153e-02 2.10575198e+01] [ 2.35146645e-02 9.99723404e-01 -4.20552637e-04 2.98439193e-01] [ 1.20151843e-02 1.38027424e-04 9.99927806e-01 1.56472889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.220281693 meters Centerline goodness : 0.996947 with order 1 Centerline is valid? [True, True] Translation: X:21.11, Y:0.31, Z:0.02 [[ 9.99685901e-01 -2.19975735e-02 -1.20085461e-02 2.11148109e+01] [ 2.19940848e-02 9.99758012e-01 -4.22520101e-04 3.05172787e-01] [ 1.20149346e-02 1.58270407e-04 9.99927806e-01 1.56817020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.280281693 meters Centerline goodness : 0.996405 with order 1 Centerline is valid? [True, True] Translation: X:21.17, Y:0.31, Z:0.02 [[ 9.99621262e-01 -2.47614460e-02 -1.20084703e-02 2.11727497e+01] [ 2.47581310e-02 9.99693380e-01 -4.24662841e-04 3.08043862e-01] [ 1.20153035e-02 1.27194724e-04 9.99927806e-01 1.89248675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.340281693 meters Centerline goodness : 0.996826 with order 1 Centerline is valid? [True, True] Translation: X:21.23, Y:0.32, Z:0.02 [[ 9.99499976e-01 -2.92505837e-02 -1.20083902e-02 2.12305258e+01] [ 2.92475655e-02 9.99572107e-01 -4.26915840e-04 3.16120313e-01] [ 1.20157394e-02 7.54861925e-05 9.99927806e-01 1.68322663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.400281693 meters Centerline goodness : 0.997299 with order 1 Centerline is valid? [True, True] Translation: X:21.29, Y:0.32, Z:0.03 [[ 9.99464420e-01 -3.04412770e-02 -1.20083656e-02 2.12882661e+01] [ 3.04383364e-02 9.99536555e-01 -4.27608259e-04 3.21788961e-01] [ 1.20158173e-02 6.18645703e-05 9.99927806e-01 2.61408602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.460281693 meters Centerline goodness : 0.997797 with order 1 Centerline is valid? [True, True] Translation: X:21.35, Y:0.33, Z:0.03 [[ 9.99453869e-01 -3.07857605e-02 -1.20083416e-02 2.13455471e+01] [ 3.07828367e-02 9.99526004e-01 -4.28280937e-04 3.27643228e-01] [ 1.20158346e-02 5.83962225e-05 9.99927806e-01 2.85329814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.520281693 meters Centerline goodness : 0.997568 with order 1 Centerline is valid? [True, True] Translation: X:21.40, Y:0.34, Z:0.03 [[ 9.99310755e-01 -3.51257339e-02 -1.20082653e-02 2.14030257e+01] [ 3.51230978e-02 9.99382901e-01 -4.30407814e-04 3.35034950e-01] [ 1.20159734e-02 8.34368011e-06 9.99927806e-01 2.77698145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.580281693 meters Centerline goodness : 0.997437 with order 1 Centerline is valid? [True, True] Translation: X:21.46, Y:0.34, Z:0.03 [[ 9.99021592e-01 -4.25636233e-02 -1.20081834e-02 2.14604669e+01] [ 4.25614971e-02 9.99093755e-01 -4.32680762e-04 3.37312716e-01] [ 1.20157175e-02 -7.88288404e-05 9.99927806e-01 2.52992492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.640281693000002 meters Centerline goodness : 0.997484 with order 1 Centerline is valid? [True, True] Translation: X:21.52, Y:0.34, Z:0.03 [[ 9.98430878e-01 -5.46953965e-02 -1.20081022e-02 2.15183288e+01] [ 5.46941200e-02 9.98503062e-01 -4.34924028e-04 3.37582854e-01] [ 1.20139151e-02 -2.22531002e-04 9.99927806e-01 2.83034766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.700281693 meters Centerline goodness : 0.996748 with order 1 Centerline is valid? [True, True] Translation: X:21.58, Y:0.33, Z:0.03 [[ 9.97999781e-01 -6.20664494e-02 -1.20080211e-02 2.15770518e+01] [ 6.20656791e-02 9.98071972e-01 -4.37151023e-04 3.30489248e-01] [ 1.20120017e-02 -3.09009360e-04 9.99927806e-01 2.71676170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.760281693 meters Centerline goodness : 0.997592 with order 1 Centerline is valid? [True, True] Translation: X:21.63, Y:0.32, Z:0.03 [[ 9.98060748e-01 -6.10782552e-02 -1.20079379e-02 2.16339144e+01] [ 6.10773861e-02 9.98132937e-01 -4.39425056e-04 3.23932745e-01] [ 1.20123576e-02 -2.94840560e-04 9.99927806e-01 2.72144278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.820281693000002 meters Centerline goodness : 0.997271 with order 1 Centerline is valid? [True, True] Translation: X:21.69, Y:0.32, Z:0.03 [[ 9.98341565e-01 -5.63021381e-02 -1.20079020e-02 2.16919249e+01] [ 5.63009119e-02 9.98413749e-01 -4.40404518e-04 3.16689775e-01] [ 1.20136501e-02 -2.36381695e-04 9.99927806e-01 2.86568440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.880281693 meters Centerline goodness : 0.997506 with order 1 Centerline is valid? [True, True] Translation: X:21.75, Y:0.31, Z:0.03 [[ 9.98703567e-01 -4.94671413e-02 -1.20078194e-02 2.17493055e+01] [ 4.94653941e-02 9.98775740e-01 -4.42643736e-04 3.10208418e-01] [ 1.20150151e-02 -1.51901642e-04 9.99927806e-01 2.95739883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.940281693 meters Centerline goodness : 0.997425 with order 1 Centerline is valid? [True, True] Translation: X:21.81, Y:0.31, Z:0.03 [[ 9.98925712e-01 -4.47575335e-02 -1.20077371e-02 2.18078767e+01] [ 4.47554193e-02 9.98997875e-01 -4.44865859e-04 3.07271351e-01] [ 1.20156149e-02 -9.30233636e-05 9.99927806e-01 2.71697348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.000281693 meters Centerline goodness : 0.998167 with order 1 Centerline is valid? [True, True] Translation: X:21.87, Y:0.31, Z:0.03 [[ 9.99171797e-01 -3.88784782e-02 -1.20076646e-02 2.18652193e+01] [ 3.88759159e-02 9.99243946e-01 -4.46814887e-04 3.06528470e-01] [ 1.20159576e-02 -2.03641252e-05 9.99927806e-01 3.05219176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.060281693 meters Centerline goodness : 0.997597 with order 1 Centerline is valid? [True, True] Translation: X:21.92, Y:0.31, Z:0.03 [[ 9.99302530e-01 -3.53591468e-02 -1.20076340e-02 2.19243804e+01] [ 3.53563206e-02 9.99374670e-01 -4.47634929e-04 3.05842216e-01] [ 1.20159533e-02 2.27769592e-05 9.99927806e-01 3.29974287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.120281693 meters Centerline goodness : 0.997439 with order 1 Centerline is valid? [True, True] Translation: X:21.98, Y:0.31, Z:0.03 [[ 9.99291031e-01 -3.56826690e-02 -1.20075607e-02 2.19822026e+01] [ 3.56798426e-02 9.99363171e-01 -4.49593476e-04 3.05902058e-01] [ 1.20159566e-02 2.08468532e-05 9.99927806e-01 3.08404763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.180281693 meters Centerline goodness : 0.997521 with order 1 Centerline is valid? [True, True] Translation: X:22.04, Y:0.30, Z:0.02 [[ 9.99156075e-01 -3.92805214e-02 -1.20074723e-02 2.20398881e+01] [ 3.92779265e-02 9.99228222e-01 -4.51941736e-04 3.03827724e-01] [ 1.20159577e-02 -2.00682829e-05 9.99927806e-01 2.36948003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.240281693 meters Centerline goodness : 0.997680 with order 1 Centerline is valid? [True, True] Translation: X:22.10, Y:0.30, Z:0.03 [[ 9.99147952e-01 -3.94865942e-02 -1.20074314e-02 2.20981554e+01] [ 3.94840012e-02 9.99220100e-01 -4.53025239e-04 3.01146986e-01] [ 1.20159552e-02 -2.14621964e-05 9.99927806e-01 2.67478374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.300281693000002 meters Centerline goodness : 0.997881 with order 1 Centerline is valid? [True, True] Translation: X:22.16, Y:0.30, Z:0.03 [[ 9.99203616e-01 -3.80520118e-02 -1.20074056e-02 2.21557133e+01] [ 3.80493070e-02 9.99275760e-01 -4.53707430e-04 3.03580851e-01] [ 1.20159739e-02 -3.52735788e-06 9.99927806e-01 2.86270697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.360281693 meters Centerline goodness : 0.997890 with order 1 Centerline is valid? [True, True] Translation: X:22.21, Y:0.30, Z:0.03 [[ 9.99291310e-01 -3.56749357e-02 -1.20073228e-02 2.22140126e+01] [ 3.56720331e-02 9.99363447e-01 -4.55887955e-04 3.04138023e-01] [ 1.20159433e-02 2.72392548e-05 9.99927806e-01 2.83257706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.420281693 meters Centerline goodness : 0.998025 with order 1 Centerline is valid? [True, True] Translation: X:22.27, Y:0.30, Z:0.03 [[ 9.99333064e-01 -3.44855522e-02 -1.20072391e-02 2.22729146e+01] [ 3.44825374e-02 9.99405195e-01 -4.58084048e-04 3.04546005e-01] [ 1.20158944e-02 4.37384654e-05 9.99927806e-01 3.25981402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.480281693000002 meters Centerline goodness : 0.997845 with order 1 Centerline is valid? [True, True] Translation: X:22.33, Y:0.30, Z:0.04 [[ 9.99219258e-01 -3.76391115e-02 -1.20071659e-02 2.23302728e+01] [ 3.76363014e-02 9.99291398e-01 -4.59993526e-04 3.03892473e-01] [ 1.20159713e-02 7.72907493e-06 9.99927806e-01 3.57392855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.540281693 meters Centerline goodness : 0.997927 with order 1 Centerline is valid? [True, True] Translation: X:22.39, Y:0.31, Z:0.03 [[ 9.99008993e-01 -4.28586070e-02 -1.20071348e-02 2.23878163e+01] [ 4.28561640e-02 9.99081146e-01 -4.60804368e-04 3.05555064e-01] [ 1.20158514e-02 -5.42320297e-05 9.99927806e-01 3.45646474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.600281693 meters Centerline goodness : 0.997906 with order 1 Centerline is valid? [True, True] Translation: X:22.45, Y:0.31, Z:0.04 [[ 9.98973758e-01 -4.36722023e-02 -1.20070469e-02 2.24453337e+01] [ 4.36697907e-02 9.99045912e-01 -4.63081973e-04 3.05684179e-01] [ 1.20158150e-02 -6.17384883e-05 9.99927806e-01 3.57614063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.660281693 meters Centerline goodness : 0.997945 with order 1 Centerline is valid? [True, True] Translation: X:22.50, Y:0.31, Z:0.04 [[ 9.99063915e-01 -4.15586971e-02 -1.20070089e-02 2.25032880e+01] [ 4.15561210e-02 9.99136064e-01 -4.64067232e-04 3.07627072e-01] [ 1.20159216e-02 -3.53318879e-05 9.99927806e-01 3.71879121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.720281693 meters Centerline goodness : 0.998134 with order 1 Centerline is valid? [True, True] Translation: X:22.56, Y:0.31, Z:0.04 [[ 9.99311705e-01 -3.50991366e-02 -1.20069226e-02 2.25603307e+01] [ 3.50960674e-02 9.99383834e-01 -4.66289726e-04 3.13561147e-01] [ 1.20158907e-02 4.45730172e-05 9.99927806e-01 3.74169639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.780281693 meters Centerline goodness : 0.998183 with order 1 Centerline is valid? [True, True] Translation: X:22.62, Y:0.32, Z:0.04 [[ 9.99463200e-01 -3.04818996e-02 -1.20068629e-02 2.26178712e+01] [ 3.04784788e-02 9.99535314e-01 -4.67821815e-04 3.18838809e-01] [ 1.20155435e-02 1.01619773e-04 9.99927806e-01 4.16963321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.840281693 meters Centerline goodness : 0.998115 with order 1 Centerline is valid? [True, True] Translation: X:22.67, Y:0.33, Z:0.04 [[ 9.99655752e-01 -2.33284097e-02 -1.20067764e-02 2.26748845e+01] [ 2.33244465e-02 9.99727838e-01 -4.70031686e-04 3.28128331e-01] [ 1.20144736e-02 1.89818466e-04 9.99927806e-01 4.11392664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.900281693 meters Centerline goodness : 0.997969 with order 1 Centerline is valid? [True, True] Translation: X:22.73, Y:0.34, Z:0.04 [[ 9.99741195e-01 -1.93230552e-02 -1.20067389e-02 2.27326397e+01] [ 1.93187916e-02 9.99813264e-01 -4.70986980e-04 3.38993365e-01] [ 1.20135977e-02 2.38909400e-04 9.99927806e-01 4.21029794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.960281693 meters Centerline goodness : 0.998206 with order 1 Centerline is valid? [True, True] Translation: X:22.79, Y:0.35, Z:0.05 [[ 9.99735282e-01 -1.96266115e-02 -1.20067125e-02 2.27904299e+01] [ 1.96223617e-02 9.99807352e-01 -4.71658637e-04 3.47704300e-01] [ 1.20136565e-02 2.35933725e-04 9.99927806e-01 4.69528894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.020281693 meters Centerline goodness : 0.998143 with order 1 Centerline is valid? [True, True] Translation: X:22.85, Y:0.35, Z:0.05 [[ 9.99673029e-01 -2.25759932e-02 -1.20066259e-02 2.28477011e+01] [ 2.25719298e-02 9.99745109e-01 -4.73852701e-04 3.53423394e-01] [ 1.20142632e-02 2.02685049e-04 9.99927806e-01 4.59348663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.080281693 meters Centerline goodness : 0.998237 with order 1 Centerline is valid? [True, True] Translation: X:22.91, Y:0.36, Z:0.04 [[ 9.99657761e-01 -2.32422527e-02 -1.20065884e-02 2.29052261e+01] [ 2.32382260e-02 9.99729843e-01 -4.74800324e-04 3.62768808e-01] [ 1.20143802e-02 1.95626014e-04 9.99927806e-01 4.38242351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.140281693000002 meters Centerline goodness : 0.998417 with order 1 Centerline is valid? [True, True] Translation: X:22.96, Y:0.37, Z:0.05 [[ 9.99644967e-01 -2.37862150e-02 -1.20065009e-02 2.29634325e+01] [ 2.37822010e-02 9.99717050e-01 -4.77002403e-04 3.66668317e-01] [ 1.20144498e-02 1.91292033e-04 9.99927806e-01 4.86003650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.200281693 meters Centerline goodness : 0.998457 with order 1 Centerline is valid? [True, True] Translation: X:23.02, Y:0.37, Z:0.05 [[ 9.99576735e-01 -2.64990011e-02 -1.20064135e-02 2.30209654e+01] [ 2.64951564e-02 9.99648827e-01 -4.79194516e-04 3.71010535e-01] [ 1.20148953e-02 1.60879888e-04 9.99927806e-01 4.65725786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.260281693 meters Centerline goodness : 0.997861 with order 1 Centerline is valid? [True, True] Translation: X:23.08, Y:0.37, Z:0.04 [[ 9.99367304e-01 -3.34789346e-02 -1.20063262e-02 2.30787983e+01] [ 3.34755673e-02 9.99439420e-01 -4.81370740e-04 3.70527811e-01] [ 1.20157115e-02 7.91475983e-05 9.99927806e-01 4.26840030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.320281693000002 meters Centerline goodness : 0.998535 with order 1 Centerline is valid? [True, True] Translation: X:23.14, Y:0.37, Z:0.05 [[ 9.99180244e-01 -3.86612144e-02 -1.20062992e-02 2.31372550e+01] [ 3.86582131e-02 9.99252376e-01 -4.82042906e-04 3.73377782e-01] [ 1.20159594e-02 1.75056748e-05 9.99927806e-01 4.95043567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.380281693 meters Centerline goodness : 0.998623 with order 1 Centerline is valid? [True, True] Translation: X:23.19, Y:0.37, Z:0.05 [[ 9.99100715e-01 -4.06646347e-02 -1.20062229e-02 2.31938845e+01] [ 4.06617553e-02 9.99172852e-01 -4.83935539e-04 3.74173871e-01] [ 1.20159711e-02 -4.69375649e-06 9.99927806e-01 5.24430088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.440281693 meters Centerline goodness : 0.998614 with order 1 Centerline is valid? [True, True] Translation: X:23.25, Y:0.37, Z:0.05 [[ 9.99038815e-01 -4.21580054e-02 -1.20061852e-02 2.32507121e+01] [ 4.21552226e-02 9.99110956e-01 -4.84868662e-04 3.72908086e-01] [ 1.20159523e-02 -2.17207981e-05 9.99927806e-01 5.20336415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.500281693 meters Centerline goodness : 0.998204 with order 1 Centerline is valid? [True, True] Translation: X:23.31, Y:0.37, Z:0.05 [[ 9.99104696e-01 -4.05667228e-02 -1.20061485e-02 2.33088268e+01] [ 4.05638142e-02 9.99176832e-01 -4.85777069e-04 3.74985040e-01] [ 1.20159718e-02 -1.67302519e-06 9.99927806e-01 5.19606391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.560281693 meters Centerline goodness : 0.997254 with order 1 Centerline is valid? [True, True] Translation: X:23.37, Y:0.38, Z:0.05 [[ 9.99244480e-01 -3.69638226e-02 -1.20060648e-02 2.33663735e+01] [ 3.69606292e-02 9.99316603e-01 -4.87837658e-04 3.76756884e-01] [ 1.20158922e-02 4.37173791e-05 9.99927806e-01 4.58620313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.620281693 meters Centerline goodness : 0.997045 with order 1 Centerline is valid? [True, True] Translation: X:23.42, Y:0.38, Z:0.05 [[ 9.99365387e-01 -3.35362287e-02 -1.20060389e-02 2.34238368e+01] [ 3.35327802e-02 9.99437499e-01 -4.88473217e-04 3.79988261e-01] [ 1.20156670e-02 8.55673616e-05 9.99927806e-01 4.96777987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.680281693 meters Centerline goodness : 0.996241 with order 1 Centerline is valid? [True, True] Translation: X:23.48, Y:0.38, Z:0.05 [[ 9.99353209e-01 -3.38972252e-02 -1.20059474e-02 2.34810297e+01] [ 3.38937759e-02 9.99425320e-01 -4.90712087e-04 3.81641141e-01] [ 1.20156816e-02 8.34678077e-05 9.99927806e-01 4.97354337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.740281693 meters Centerline goodness : 0.995580 with order 1 Centerline is valid? [True, True] Translation: X:23.54, Y:0.39, Z:0.05 [[ 9.99340257e-01 -3.42769534e-02 -1.20059075e-02 2.35385318e+01] [ 3.42735198e-02 9.99412369e-01 -4.91687047e-04 3.86182936e-01] [ 1.20157060e-02 7.98779523e-05 9.99927806e-01 5.34450512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.800281693 meters Centerline goodness : 0.995425 with order 1 Centerline is valid? [True, True] Translation: X:23.60, Y:0.39, Z:0.05 [[ 9.99348425e-01 -3.40380166e-02 -1.20058249e-02 2.35963303e+01] [ 3.40345416e-02 9.99420535e-01 -4.93695825e-04 3.89595499e-01] [ 1.20156723e-02 8.47613990e-05 9.99927806e-01 5.40046593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.860281693 meters Centerline goodness : 0.994832 with order 1 Centerline is valid? [True, True] Translation: X:23.66, Y:0.39, Z:0.05 [[ 9.99394944e-01 -3.26436559e-02 -1.20057419e-02 2.36554522e+01] [ 3.26400562e-02 9.99467048e-01 -4.95704000e-04 3.93317806e-01] [ 1.20155251e-02 1.03535980e-04 9.99927806e-01 4.91739820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.920281693 meters Centerline goodness : 0.994601 with order 1 Centerline is valid? [True, True] Translation: X:23.71, Y:0.40, Z:0.05 [[ 9.99385813e-01 -3.29220294e-02 -1.20056640e-02 2.37142657e+01] [ 3.29184272e-02 9.99457918e-01 -4.97583610e-04 3.97482953e-01] [ 1.20155375e-02 1.02070423e-04 9.99927806e-01 5.36764610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.980281693000002 meters Centerline goodness : 0.994952 with order 1 Centerline is valid? [True, True] Translation: X:23.77, Y:0.40, Z:0.05 [[ 9.99270547e-01 -3.62524349e-02 -1.20055854e-02 2.37716807e+01] [ 3.62490503e-02 9.99342662e-01 -4.99474246e-04 4.02665074e-01] [ 1.20158008e-02 6.39188353e-05 9.99927806e-01 5.40529805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.040281693 meters Centerline goodness : 0.995173 with order 1 Centerline is valid? [True, True] Translation: X:23.83, Y:0.41, Z:0.05 [[ 9.99179348e-01 -3.86846019e-02 -1.20054959e-02 2.38297082e+01] [ 3.86813672e-02 9.99251470e-01 -5.01615786e-04 4.05153224e-01] [ 1.20159142e-02 3.68151388e-05 9.99927806e-01 5.46737893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.100281693 meters Centerline goodness : 0.995239 with order 1 Centerline is valid? [True, True] Translation: X:23.89, Y:0.40, Z:0.06 [[ 9.99091512e-01 -4.08903511e-02 -1.20054065e-02 2.38877163e+01] [ 4.08872500e-02 9.99163640e-01 -5.03746091e-04 4.04993143e-01] [ 1.20159640e-02 1.24203858e-05 9.99927806e-01 5.65493995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.160281693 meters Centerline goodness : 0.994961 with order 1 Centerline is valid? [True, True] Translation: X:23.95, Y:0.40, Z:0.06 [[ 9.98992326e-01 -4.32458660e-02 -1.20053178e-02 2.39457266e+01] [ 4.32429096e-02 9.99064460e-01 -5.05851731e-04 4.02135084e-01] [ 1.20159623e-02 -1.38028754e-05 9.99927806e-01 5.51835710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.220281693 meters Centerline goodness : 0.994904 with order 1 Centerline is valid? [True, True] Translation: X:24.00, Y:0.40, Z:0.06 [[ 9.99110042e-01 -4.04351164e-02 -1.20052296e-02 2.40037293e+01] [ 4.04319320e-02 9.99182166e-01 -5.07937501e-04 4.00571871e-01] [ 1.20159498e-02 2.20908336e-05 9.99927806e-01 5.85226813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.280281693 meters Centerline goodness : 0.994996 with order 1 Centerline is valid? [True, True] Translation: X:24.06, Y:0.40, Z:0.06 [[ 9.99143273e-01 -3.96054822e-02 -1.20052022e-02 2.40620774e+01] [ 3.96022302e-02 9.99215395e-01 -5.08582608e-04 4.02993324e-01] [ 1.20159255e-02 3.27141096e-05 9.99927806e-01 5.88460362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.340281693 meters Centerline goodness : 0.994654 with order 1 Centerline is valid? [True, True] Translation: X:24.12, Y:0.41, Z:0.06 [[ 9.99307115e-01 -3.52302125e-02 -1.20051116e-02 2.41196916e+01] [ 3.52266191e-02 9.99379220e-01 -5.10712049e-04 4.05099230e-01] [ 1.20156516e-02 8.74586897e-05 9.99927806e-01 5.76619188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.400281693 meters Centerline goodness : 0.994717 with order 1 Centerline is valid? [True, True] Translation: X:24.18, Y:0.41, Z:0.06 [[ 9.99474683e-01 -3.01037676e-02 -1.20050200e-02 2.41772999e+01] [ 3.00997787e-02 9.99546767e-01 -5.12856822e-04 4.12776024e-01] [ 1.20150179e-02 1.51238965e-04 9.99927806e-01 6.16747922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.460281693 meters Centerline goodness : 0.994946 with order 1 Centerline is valid? [True, True] Translation: X:24.24, Y:0.42, Z:0.06 [[ 9.99510326e-01 -2.88961931e-02 -1.20049284e-02 2.42355355e+01] [ 2.88920914e-02 9.99582404e-01 -5.14992137e-04 4.17574182e-01] [ 1.20147965e-02 1.67892470e-04 9.99927806e-01 5.93749873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.520281693 meters Centerline goodness : 0.994498 with order 1 Centerline is valid? [True, True] Translation: X:24.29, Y:0.42, Z:0.06 [[ 9.99381573e-01 -3.30507925e-02 -1.20048370e-02 2.42936858e+01] [ 3.30469650e-02 9.99453666e-01 -5.17113355e-04 4.22502430e-01] [ 1.20153694e-02 1.20070128e-04 9.99927806e-01 5.69910459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.580281693 meters Centerline goodness : 0.994625 with order 1 Centerline is valid? [True, True] Translation: X:24.35, Y:0.42, Z:0.06 [[ 9.99186047e-01 -3.85114295e-02 -1.20047402e-02 2.43521834e+01] [ 3.85079691e-02 9.99258158e-01 -5.19352731e-04 4.22643663e-01] [ 1.20158356e-02 5.66518386e-05 9.99927806e-01 5.69102639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.640281693000002 meters Centerline goodness : 0.994818 with order 1 Centerline is valid? [True, True] Translation: X:24.41, Y:0.42, Z:0.06 [[ 9.99109736e-01 -4.04428427e-02 -1.20046427e-02 2.44086514e+01] [ 4.04394947e-02 9.99181853e-01 -5.21595718e-04 4.24936755e-01] [ 1.20159159e-02 3.56696745e-05 9.99927806e-01 5.86147245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.700281693 meters Centerline goodness : 0.994445 with order 1 Centerline is valid? [True, True] Translation: X:24.47, Y:0.43, Z:0.06 [[ 9.98952013e-01 -4.41674780e-02 -1.20046007e-02 2.44659620e+01] [ 4.41643874e-02 9.99024141e-01 -5.22560575e-04 4.25612223e-01] [ 1.20159661e-02 -8.16289811e-06 9.99927806e-01 5.81730264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.760281693 meters Centerline goodness : 0.995325 with order 1 Centerline is valid? [True, True] Translation: X:24.52, Y:0.43, Z:0.06 [[ 9.98710079e-01 -4.93362900e-02 -1.20045618e-02 2.45227733e+01] [ 4.93335619e-02 9.98782221e-01 -5.23451710e-04 4.26277758e-01] [ 1.20157681e-02 -6.94512967e-05 9.99927806e-01 5.91588558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.820281693000002 meters Centerline goodness : 0.994645 with order 1 Centerline is valid? [True, True] Translation: X:24.58, Y:0.43, Z:0.06 [[ 9.98483882e-01 -5.37199075e-02 -1.20045009e-02 2.45807516e+01] [ 5.37174794e-02 9.98556036e-01 -5.24846406e-04 4.25033150e-01] [ 1.20153615e-02 -1.20800850e-04 9.99927806e-01 6.42927472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.880281693 meters Centerline goodness : 0.994867 with order 1 Centerline is valid? [True, True] Translation: X:24.64, Y:0.43, Z:0.06 [[ 9.98359825e-01 -5.59781647e-02 -1.20044018e-02 2.46385164e+01] [ 5.59758727e-02 9.98431983e-01 -5.27101789e-04 4.25767529e-01] [ 1.20150849e-02 -1.45719619e-04 9.99927806e-01 6.46096926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.940281693 meters Centerline goodness : 0.995223 with order 1 Centerline is valid? [True, True] Translation: X:24.70, Y:0.42, Z:0.06 [[ 9.98494719e-01 -5.35181539e-02 -1.20043032e-02 2.46968279e+01] [ 5.35156572e-02 9.98566870e-01 -5.29338726e-04 4.24739932e-01] [ 1.20154287e-02 -1.13876252e-04 9.99927806e-01 6.43307960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.000281693 meters Centerline goodness : 0.995210 with order 1 Centerline is valid? [True, True] Translation: X:24.75, Y:0.43, Z:0.07 [[ 9.98789143e-01 -4.77089747e-02 -1.20042052e-02 2.47540938e+01] [ 4.77060317e-02 9.98861278e-01 -5.31552371e-04 4.25095429e-01] [ 1.20158955e-02 -4.17642555e-05 9.99927806e-01 6.67144466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.060281693 meters Centerline goodness : 0.994985 with order 1 Centerline is valid? [True, True] Translation: X:24.81, Y:0.43, Z:0.07 [[ 9.99003041e-01 -4.29979461e-02 -1.20041626e-02 2.48111230e+01] [ 4.29946514e-02 9.99075161e-01 -5.32512141e-04 4.26032886e-01] [ 1.20159576e-02 1.58664627e-05 9.99927806e-01 7.05777193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.120281693 meters Centerline goodness : 0.994706 with order 1 Centerline is valid? [True, True] Translation: X:24.87, Y:0.43, Z:0.07 [[ 9.99163866e-01 -3.90828681e-02 -1.20041202e-02 2.48692615e+01] [ 3.90792794e-02 9.99235971e-01 -5.33467227e-04 4.26814257e-01] [ 1.20157981e-02 6.39088118e-05 9.99927806e-01 7.13210950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.180281693 meters Centerline goodness : 0.994847 with order 1 Centerline is valid? [True, True] Translation: X:24.93, Y:0.43, Z:0.07 [[ 9.99123991e-01 -4.00893366e-02 -1.20040231e-02 2.49271581e+01] [ 4.00857944e-02 9.99196098e-01 -5.35642187e-04 4.27052005e-01] [ 1.20158466e-02 5.39821576e-05 9.99927806e-01 6.98756423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.240281693 meters Centerline goodness : 0.994726 with order 1 Centerline is valid? [True, True] Translation: X:24.98, Y:0.43, Z:0.07 [[ 9.99068132e-01 -4.14581021e-02 -1.20039264e-02 2.49839634e+01] [ 4.14546327e-02 9.99140243e-01 -5.37801501e-04 4.25256286e-01] [ 1.20159021e-02 3.96819821e-05 9.99927806e-01 6.66279570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.300281693 meters Centerline goodness : 0.995362 with order 1 Centerline is valid? [True, True] Translation: X:25.04, Y:0.42, Z:0.07 [[ 9.98942720e-01 -4.43773389e-02 -1.20038844e-02 2.50419189e+01] [ 4.43740690e-02 9.99014841e-01 -5.38736521e-04 4.24844607e-01] [ 1.20159663e-02 5.50573109e-06 9.99927806e-01 6.50151866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.360281693 meters Centerline goodness : 0.995428 with order 1 Centerline is valid? [True, True] Translation: X:25.10, Y:0.42, Z:0.06 [[ 9.98987920e-01 -4.33479586e-02 -1.20037876e-02 2.50992192e+01] [ 4.33445886e-02 9.99060035e-01 -5.40883914e-04 4.24762466e-01] [ 1.20159507e-02 2.00372592e-05 9.99927806e-01 6.36510788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.420281693 meters Centerline goodness : 0.995493 with order 1 Centerline is valid? [True, True] Translation: X:25.16, Y:0.43, Z:0.06 [[ 9.99037622e-01 -4.21869594e-02 -1.20037458e-02 2.51572196e+01] [ 4.21834944e-02 9.99109733e-01 -5.41810560e-04 4.29087111e-01] [ 1.20159166e-02 3.49291888e-05 9.99927806e-01 6.07416447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.480281693000002 meters Centerline goodness : 0.995683 with order 1 Centerline is valid? [True, True] Translation: X:25.22, Y:0.43, Z:0.06 [[ 9.99043603e-01 -4.20451122e-02 -1.20036524e-02 2.52155959e+01] [ 4.20416123e-02 9.99115713e-01 -5.43872114e-04 4.30785337e-01] [ 1.20159049e-02 3.86990562e-05 9.99927806e-01 6.33581857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.540281693 meters Centerline goodness : 0.995564 with order 1 Centerline is valid? [True, True] Translation: X:25.27, Y:0.43, Z:0.07 [[ 9.99075812e-01 -4.12727146e-02 -1.20035573e-02 2.52735234e+01] [ 4.12691338e-02 9.99147917e-01 -5.45962016e-04 4.31453523e-01] [ 1.20158627e-02 5.00810298e-05 9.99927806e-01 6.53173503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.600281693 meters Centerline goodness : 0.995504 with order 1 Centerline is valid? [True, True] Translation: X:25.33, Y:0.43, Z:0.07 [[ 9.99048277e-01 -4.19339633e-02 -1.20034624e-02 2.53313715e+01] [ 4.19304053e-02 9.99120384e-01 -5.48040897e-04 4.33899608e-01] [ 1.20158855e-02 4.42092697e-05 9.99927806e-01 6.71199271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.660281693 meters Centerline goodness : 0.995622 with order 1 Centerline is valid? [True, True] Translation: X:25.39, Y:0.43, Z:0.07 [[ 9.98842841e-01 -4.65714102e-02 -1.20034331e-02 2.53896642e+01] [ 4.65681792e-02 9.98914963e-01 -5.48682909e-04 4.33867750e-01] [ 1.20159619e-02 -1.09300275e-05 9.99927806e-01 7.06856046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.720281693 meters Centerline goodness : 0.996454 with order 1 Centerline is valid? [True, True] Translation: X:25.45, Y:0.43, Z:0.07 [[ 9.98492654e-01 -5.35568744e-02 -1.20033397e-02 2.54479187e+01] [ 5.35541235e-02 9.98564796e-01 -5.50718620e-04 4.29170442e-01] [ 1.20156072e-02 -9.29398393e-05 9.99927806e-01 6.86005832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.780281693 meters Centerline goodness : 0.995948 with order 1 Centerline is valid? [True, True] Translation: X:25.51, Y:0.42, Z:0.07 [[ 9.98500103e-01 -5.34178435e-02 -1.20032465e-02 2.55050500e+01] [ 5.34150582e-02 9.98572244e-01 -5.52742242e-04 4.24242877e-01] [ 1.20156351e-02 -8.92409245e-05 9.99927806e-01 6.91041496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.840281693 meters Centerline goodness : 0.996309 with order 1 Centerline is valid? [True, True] Translation: X:25.56, Y:0.43, Z:0.07 [[ 9.98623429e-01 -5.10604610e-02 -1.20032063e-02 2.55626342e+01] [ 5.10574950e-02 9.98695562e-01 -5.53614469e-04 4.26049234e-01] [ 1.20158166e-02 -6.00012648e-05 9.99927806e-01 7.03019535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.900281693 meters Centerline goodness : 0.996336 with order 1 Centerline is valid? [True, True] Translation: X:25.62, Y:0.42, Z:0.07 [[ 9.98832578e-01 -4.67910949e-02 -1.20031137e-02 2.56209826e+01] [ 4.67877965e-02 9.98904697e-01 -5.55613927e-04 4.22444068e-01] [ 1.20159645e-02 -6.63395069e-06 9.99927806e-01 6.86434480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.960281693 meters Centerline goodness : 0.996132 with order 1 Centerline is valid? [True, True] Translation: X:25.68, Y:0.42, Z:0.08 [[ 9.98957222e-01 -4.40499337e-02 -1.20030208e-02 2.56799344e+01] [ 4.40464133e-02 9.99029330e-01 -5.57614246e-04 4.20381642e-01] [ 1.20159327e-02 2.83427630e-05 9.99927806e-01 7.53999879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.020281693 meters Centerline goodness : 0.995761 with order 1 Centerline is valid? [True, True] Translation: X:25.74, Y:0.42, Z:0.08 [[ 9.99073462e-01 -4.13297431e-02 -1.20029392e-02 2.57383047e+01] [ 4.13260054e-02 9.99145559e-01 -5.59365977e-04 4.22325647e-01] [ 1.20158018e-02 6.28141745e-05 9.99927806e-01 7.93639707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.080281693 meters Centerline goodness : 0.996114 with order 1 Centerline is valid? [True, True] Translation: X:25.80, Y:0.43, Z:0.08 [[ 9.99305038e-01 -3.52898511e-02 -1.20028452e-02 2.57961265e+01] [ 3.52856535e-02 9.99377110e-01 -5.61374257e-04 4.26167667e-01] [ 1.20151796e-02 1.37455885e-04 9.99927806e-01 7.59501810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.140281693000002 meters Centerline goodness : 0.996091 with order 1 Centerline is valid? [True, True] Translation: X:25.85, Y:0.43, Z:0.08 [[ 9.99444183e-01 -3.11007929e-02 -1.20027510e-02 2.58537104e+01] [ 3.10962691e-02 9.99516235e-01 -5.63382226e-04 4.27717993e-01] [ 1.20144661e-02 1.89828314e-04 9.99927806e-01 7.93150423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.200281693 meters Centerline goodness : 0.996843 with order 1 Centerline is valid? [True, True] Translation: X:25.91, Y:0.43, Z:0.08 [[ 9.99443237e-01 -3.11312062e-02 -1.20026454e-02 2.59113679e+01] [ 3.11266577e-02 9.99515288e-01 -5.65622841e-04 4.29241205e-01] [ 1.20144361e-02 1.91705688e-04 9.99927806e-01 8.01013564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.260281693 meters Centerline goodness : 0.996178 with order 1 Centerline is valid? [True, True] Translation: X:25.97, Y:0.43, Z:0.08 [[ 9.99442396e-01 -3.11582507e-02 -1.20025391e-02 2.59696500e+01] [ 3.11536772e-02 9.99514445e-01 -5.67869443e-04 4.28802914e-01] [ 1.20144050e-02 1.93629568e-04 9.99927806e-01 7.56805890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.320281693000002 meters Centerline goodness : 0.996475 with order 1 Centerline is valid? [True, True] Translation: X:26.03, Y:0.43, Z:0.08 [[ 9.99525172e-01 -2.83790483e-02 -1.20025063e-02 2.60273166e+01] [ 2.83742662e-02 9.99597208e-01 -5.68562791e-04 4.30261252e-01] [ 1.20138070e-02 2.27730514e-04 9.99927806e-01 7.58897066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.380281693 meters Centerline goodness : 0.996513 with order 1 Centerline is valid? [True, True] Translation: X:26.09, Y:0.43, Z:0.08 [[ 9.99637261e-01 -2.41099508e-02 -1.20023992e-02 2.60856459e+01] [ 2.41048340e-02 9.99709273e-01 -5.70813759e-04 4.29993236e-01] [ 1.20126721e-02 2.81290862e-04 9.99927806e-01 7.92976986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.440281693 meters Centerline goodness : 0.996618 with order 1 Centerline is valid? [True, True] Translation: X:26.14, Y:0.43, Z:0.08 [[ 9.99741408e-01 -1.93147772e-02 -1.20023662e-02 2.61430758e+01] [ 1.93093068e-02 9.99813395e-01 -5.71507477e-04 4.33203266e-01] [ 1.20111650e-02 3.39602320e-04 9.99927806e-01 7.53363962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.500281693 meters Centerline goodness : 0.996160 with order 1 Centerline is valid? [True, True] Translation: X:26.20, Y:0.43, Z:0.08 [[ 9.99753724e-01 -1.86664392e-02 -1.20023339e-02 2.62014161e+01] [ 1.86609140e-02 9.99825706e-01 -5.72184094e-04 4.34560498e-01] [ 1.20109226e-02 3.48068658e-04 9.99927806e-01 7.59691759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.560281693 meters Centerline goodness : 0.996665 with order 1 Centerline is valid? [True, True] Translation: X:26.26, Y:0.44, Z:0.08 [[ 9.99686610e-01 -2.19687997e-02 -1.20022294e-02 2.62591376e+01] [ 2.19634860e-02 9.99758609e-01 -5.74367133e-04 4.38680212e-01] [ 1.20119504e-02 3.10576333e-04 9.99927806e-01 7.87230978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.620281693 meters Centerline goodness : 0.996088 with order 1 Centerline is valid? [True, True] Translation: X:26.32, Y:0.44, Z:0.07 [[ 9.99671195e-01 -2.26594407e-02 -1.20021241e-02 2.63177831e+01] [ 2.26541505e-02 9.99743196e-01 -5.76560726e-04 4.43128944e-01] [ 1.20121064e-02 3.04473225e-04 9.99927806e-01 7.45525934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.680281693 meters Centerline goodness : 0.996713 with order 1 Centerline is valid? [True, True] Translation: X:26.38, Y:0.45, Z:0.08 [[ 9.99582433e-01 -2.62851851e-02 -1.20020326e-02 2.63756024e+01] [ 2.62801333e-02 9.99654450e-01 -5.78459230e-04 4.51153299e-01] [ 1.20130902e-02 2.62802668e-04 9.99927806e-01 7.80234093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.740281693 meters Centerline goodness : 0.996740 with order 1 Centerline is valid? [True, True] Translation: X:26.43, Y:0.45, Z:0.08 [[ 9.99470484e-01 -3.02440896e-02 -1.20019224e-02 2.64336059e+01] [ 3.02392958e-02 9.99542519e-01 -5.80735106e-04 4.53927463e-01] [ 1.20139956e-02 2.17497915e-04 9.99927806e-01 8.03133306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.800281693 meters Centerline goodness : 0.997085 with order 1 Centerline is valid? [True, True] Translation: X:26.49, Y:0.46, Z:0.08 [[ 9.99216654e-01 -3.77098615e-02 -1.20018688e-02 2.64905531e+01] [ 3.77055926e-02 9.99288722e-01 -5.81841157e-04 4.58677766e-01] [ 1.20152733e-02 1.28847798e-04 9.99927806e-01 8.20732780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.860281693 meters Centerline goodness : 0.996334 with order 1 Centerline is valid? [True, True] Translation: X:26.55, Y:0.46, Z:0.09 [[ 9.98982731e-01 -4.34679212e-02 -1.20018231e-02 2.65485490e+01] [ 4.34640564e-02 9.99054821e-01 -5.82782169e-04 4.61488689e-01] [ 1.20158116e-02 6.05414052e-05 9.99927806e-01 8.79213913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.920281693 meters Centerline goodness : 0.996751 with order 1 Centerline is valid? [True, True] Translation: X:26.61, Y:0.47, Z:0.09 [[ 9.98910663e-01 -4.50937448e-02 -1.20017212e-02 2.66064015e+01] [ 4.50899723e-02 9.98982759e-01 -5.84873489e-04 4.66526423e-01] [ 1.20158867e-02 4.30790887e-05 9.99927806e-01 8.87429340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.980281693000002 meters Centerline goodness : 0.996336 with order 1 Centerline is valid? [True, True] Translation: X:26.66, Y:0.47, Z:0.09 [[ 9.98848924e-01 -4.64412459e-02 -1.20016092e-02 2.66635861e+01] [ 4.64375431e-02 9.98921023e-01 -5.87163822e-04 4.72318764e-01] [ 1.20159283e-02 2.91627087e-05 9.99927806e-01 8.55136362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.040281693 meters Centerline goodness : 0.996914 with order 1 Centerline is valid? [True, True] Translation: X:26.72, Y:0.48, Z:0.09 [[ 9.98691762e-01 -4.97064078e-02 -1.20015608e-02 2.67213830e+01] [ 4.97029289e-02 9.98763872e-01 -5.88150674e-04 4.77479456e-01] [ 1.20159602e-02 -9.13149024e-06 9.99927806e-01 8.68976899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.100281693 meters Centerline goodness : 0.997216 with order 1 Centerline is valid? [True, True] Translation: X:26.78, Y:0.48, Z:0.09 [[ 9.98656714e-01 -5.04056832e-02 -1.20014527e-02 2.67786864e+01] [ 5.04022284e-02 9.98728825e-01 -5.90347627e-04 4.82618843e-01] [ 1.20159537e-02 -1.53453408e-05 9.99927806e-01 8.88339398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.160281692999995 meters Centerline goodness : 0.996440 with order 1 Centerline is valid? [True, True] Translation: X:26.84, Y:0.49, Z:0.09 [[ 9.98756129e-01 -4.83958850e-02 -1.20013409e-02 2.68359029e+01] [ 4.83922578e-02 9.98828233e-01 -5.92611845e-04 4.85127508e-01] [ 1.20159581e-02 1.11027279e-05 9.99927806e-01 9.03403448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.220281693 meters Centerline goodness : 0.996498 with order 1 Centerline is valid? [True, True] Translation: X:26.89, Y:0.49, Z:0.08 [[ 9.98868282e-01 -4.60230967e-02 -1.20012297e-02 2.68936082e+01] [ 4.60192713e-02 9.98940375e-01 -5.94855828e-04 4.89393537e-01] [ 1.20158900e-02 4.18947742e-05 9.99927806e-01 8.46534815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.280281693 meters Centerline goodness : 0.996909 with order 1 Centerline is valid? [True, True] Translation: X:26.95, Y:0.49, Z:0.08 [[ 9.98868938e-01 -4.60088738e-02 -1.20011951e-02 2.69521575e+01] [ 4.60050390e-02 9.98941030e-01 -5.95554031e-04 4.92328187e-01] [ 1.20158869e-02 4.27649760e-05 9.99927806e-01 8.16509433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.340281692999994 meters Centerline goodness : 0.996995 with order 1 Centerline is valid? [True, True] Translation: X:27.01, Y:0.49, Z:0.08 [[ 9.98853742e-01 -4.63376225e-02 -1.20010984e-02 2.70093059e+01] [ 4.63337881e-02 9.98925835e-01 -5.97495684e-04 4.94493341e-01] [ 1.20158938e-02 4.07544509e-05 9.99927806e-01 8.14718919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.400281693 meters Centerline goodness : 0.997027 with order 1 Centerline is valid? [True, True] Translation: X:27.07, Y:0.50, Z:0.09 [[ 9.98829389e-01 -4.68596429e-02 -1.20010505e-02 2.70685155e+01] [ 4.68558346e-02 9.98901483e-01 -5.98456044e-04 4.95677791e-01] [ 1.20159106e-02 3.54362474e-05 9.99927806e-01 8.58451686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.460281693 meters Centerline goodness : 0.996779 with order 1 Centerline is valid? [True, True] Translation: X:27.13, Y:0.50, Z:0.09 [[ 9.98839193e-01 -4.66502189e-02 -1.20009525e-02 2.71262778e+01] [ 4.66463720e-02 9.98911285e-01 -6.00413802e-04 4.95637470e-01] [ 1.20158964e-02 3.99159413e-05 9.99927806e-01 8.85964393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.520281692999994 meters Centerline goodness : 0.996791 with order 1 Centerline is valid? [True, True] Translation: X:27.18, Y:0.50, Z:0.09 [[ 9.98829824e-01 -4.68504213e-02 -1.20008386e-02 2.71839534e+01] [ 4.68465615e-02 9.98901915e-01 -6.02683684e-04 4.96794448e-01] [ 1.20158966e-02 3.97804167e-05 9.99927806e-01 8.63824709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.580281692999996 meters Centerline goodness : 0.997254 with order 1 Centerline is valid? [True, True] Translation: X:27.24, Y:0.50, Z:0.09 [[ 9.98910567e-01 -4.50961262e-02 -1.20008032e-02 2.72415469e+01] [ 4.50921315e-02 9.98982650e-01 -6.03385995e-04 5.00719982e-01] [ 1.20158046e-02 6.15868490e-05 9.99927806e-01 8.79336748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.640281693 meters Centerline goodness : 0.996869 with order 1 Centerline is valid? [True, True] Translation: X:27.30, Y:0.51, Z:0.09 [[ 9.99187025e-01 -3.84872900e-02 -1.20006926e-02 2.72988060e+01] [ 3.84827921e-02 9.99259080e-01 -6.05578273e-04 5.08041526e-01] [ 1.20151081e-02 1.43265794e-04 9.99927806e-01 8.94559437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.700281692999994 meters Centerline goodness : 0.997011 with order 1 Centerline is valid? [True, True] Translation: X:27.36, Y:0.52, Z:0.09 [[ 9.99401723e-01 -3.24373473e-02 -1.20005777e-02 2.73559421e+01] [ 3.24323861e-02 9.99473747e-01 -6.07846810e-04 5.18751443e-01] [ 1.20139793e-02 2.18275780e-04 9.99927806e-01 9.24250778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.760281692999996 meters Centerline goodness : 0.997458 with order 1 Centerline is valid? [True, True] Translation: X:27.41, Y:0.53, Z:0.10 [[ 9.99461174e-01 -3.05507776e-02 -1.20004599e-02 2.74134528e+01] [ 3.05456527e-02 9.99533186e-01 -6.10163415e-04 5.29580910e-01] [ 1.20134989e-02 2.43272762e-04 9.99927806e-01 9.64967865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.820281693 meters Centerline goodness : 0.997138 with order 1 Centerline is valid? [True, True] Translation: X:27.47, Y:0.55, Z:0.10 [[ 9.99459591e-01 -3.06025336e-02 -1.20004237e-02 2.74708690e+01] [ 3.05974038e-02 9.99531603e-01 -6.10875497e-04 5.46112874e-01] [ 1.20134971e-02 2.43363566e-04 9.99927806e-01 1.00941076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88028169299999 meters Centerline goodness : 0.997478 with order 1 Centerline is valid? [True, True] Translation: X:27.53, Y:0.56, Z:0.10 [[ 9.99466905e-01 -3.03627689e-02 -1.20003088e-02 2.75268449e+01] [ 3.03575948e-02 9.99538914e-01 -6.13124060e-04 5.64300692e-01] [ 1.20133918e-02 2.48496695e-04 9.99927806e-01 9.81160544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.940281692999996 meters Centerline goodness : 0.997524 with order 1 Centerline is valid? [True, True] Translation: X:27.58, Y:0.58, Z:0.09 [[ 9.99396658e-01 -3.25931437e-02 -1.20002591e-02 2.75848478e+01] [ 3.25881187e-02 9.99468678e-01 -6.14094263e-04 5.75746092e-01] [ 1.20138984e-02 2.22657884e-04 9.99927806e-01 9.42180271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.000281693 meters Centerline goodness : 0.997081 with order 1 Centerline is valid? [True, True] Translation: X:27.64, Y:0.59, Z:0.09 [[ 9.99064281e-01 -4.15518702e-02 -1.20001600e-02 2.76420858e+01] [ 4.15474679e-02 9.99136341e-01 -6.16025606e-04 5.87231614e-01] [ 1.20153930e-02 1.16872918e-04 9.99927806e-01 9.31492644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.060281693 meters Centerline goodness : 0.997113 with order 1 Centerline is valid? [True, True] Translation: X:27.70, Y:0.59, Z:0.09 [[ 9.98592378e-01 -5.16648949e-02 -1.20000472e-02 2.76994138e+01] [ 5.16611962e-02 9.98664478e-01 -6.18214158e-04 5.94074470e-01] [ 1.20159609e-02 -2.59284886e-06 9.99927806e-01 9.33881712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.120281692999995 meters Centerline goodness : 0.997331 with order 1 Centerline is valid? [True, True] Translation: X:27.76, Y:0.60, Z:0.10 [[ 9.98444422e-01 -5.44494036e-02 -1.19999315e-02 2.77575921e+01] [ 5.44458790e-02 9.98516530e-01 -6.20452637e-04 5.97692490e-01] [ 1.20159132e-02 -3.38593444e-05 9.99927806e-01 9.57066876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.180281693 meters Centerline goodness : 0.997871 with order 1 Centerline is valid? [True, True] Translation: X:27.82, Y:0.60, Z:0.10 [[ 9.98190663e-01 -5.89186287e-02 -1.19998167e-02 2.78153144e+01] [ 5.89154004e-02 9.98262785e-01 -6.22665115e-04 6.03690114e-01] [ 1.20156570e-02 -8.54355013e-05 9.99927806e-01 1.00422422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.240281693 meters Centerline goodness : 0.997176 with order 1 Centerline is valid? [True, True] Translation: X:27.87, Y:0.61, Z:0.09 [[ 9.98182841e-01 -5.90510261e-02 -1.19997024e-02 2.78728466e+01] [ 5.90477809e-02 9.98254962e-01 -6.24859589e-04 6.05416797e-01] [ 1.20156611e-02 -8.48316801e-05 9.99927806e-01 9.15843711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.300281692999995 meters Centerline goodness : 0.997508 with order 1 Centerline is valid? [True, True] Translation: X:27.93, Y:0.61, Z:0.10 [[ 9.98305549e-01 -5.69389152e-02 -1.19996502e-02 2.79311989e+01] [ 5.69355053e-02 9.98377662e-01 -6.25861331e-04 6.09461472e-01] [ 1.20158186e-02 -5.84053074e-05 9.99927806e-01 9.52783844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.360281693 meters Centerline goodness : 0.997811 with order 1 Centerline is valid? [True, True] Translation: X:27.99, Y:0.61, Z:0.11 [[ 9.98509921e-01 -5.32348391e-02 -1.19995523e-02 2.79895454e+01] [ 5.32311392e-02 9.98582021e-01 -6.27732258e-04 6.12477308e-01] [ 1.20159544e-02 -1.19529529e-05 9.99927806e-01 1.07063129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.420281693 meters Centerline goodness : 0.997925 with order 1 Centerline is valid? [True, True] Translation: X:28.05, Y:0.62, Z:0.11 [[ 9.98556503e-01 -5.23538341e-02 -1.19994548e-02 2.80474934e+01] [ 5.23500484e-02 9.98628598e-01 -6.29591310e-04 6.19621788e-01] [ 1.20159602e-02 5.10459226e-07 9.99927806e-01 1.08230125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.480281692999995 meters Centerline goodness : 0.997982 with order 1 Centerline is valid? [True, True] Translation: X:28.11, Y:0.62, Z:0.11 [[ 9.98585908e-01 -5.17899565e-02 -1.19993432e-02 2.81052775e+01] [ 5.17861045e-02 9.98658000e-01 -6.31710425e-04 6.23471478e-01] [ 1.20159563e-02 9.41788742e-06 9.99927806e-01 1.08468234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.540281693 meters Centerline goodness : 0.998242 with order 1 Centerline is valid? [True, True] Translation: X:28.16, Y:0.63, Z:0.10 [[ 9.98511111e-01 -5.32125842e-02 -1.19992325e-02 2.81630424e+01] [ 5.32088098e-02 9.98583207e-01 -6.33806223e-04 6.27609522e-01] [ 1.20159585e-02 -5.60232395e-06 9.99927806e-01 1.03356212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.600281693 meters Centerline goodness : 0.998031 with order 1 Centerline is valid? [True, True] Translation: X:28.22, Y:0.63, Z:0.11 [[ 9.98337372e-01 -5.63782924e-02 -1.19991982e-02 2.82208205e+01] [ 5.63747388e-02 9.98409478e-01 -6.34455270e-04 6.30478702e-01] [ 1.20158827e-02 -4.30512574e-05 9.99927806e-01 1.05600751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.660281692999995 meters Centerline goodness : 0.998028 with order 1 Centerline is valid? [True, True] Translation: X:28.28, Y:0.63, Z:0.11 [[ 9.98036166e-01 -6.14803436e-02 -1.19990899e-02 2.82788148e+01] [ 6.14771341e-02 9.98108289e-01 -6.36497177e-04 6.30413891e-01] [ 1.20155231e-02 -1.02422454e-04 9.99927806e-01 1.08653479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.720281693 meters Centerline goodness : 0.998220 with order 1 Centerline is valid? [True, True] Translation: X:28.34, Y:0.63, Z:0.11 [[ 9.97740730e-01 -6.61018979e-02 -1.19989769e-02 2.83372449e+01] [ 6.60989969e-02 9.97812866e-01 -6.38619807e-04 6.29618447e-01] [ 1.20149475e-02 -1.55943344e-04 9.99927806e-01 1.09595145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.780281693 meters Centerline goodness : 0.998282 with order 1 Centerline is valid? [True, True] Translation: X:28.40, Y:0.63, Z:0.11 [[ 9.97608897e-01 -6.80625889e-02 -1.19988636e-02 2.83958812e+01] [ 6.80598041e-02 9.97681037e-01 -6.40741760e-04 6.26981700e-01] [ 1.20146492e-02 -1.77430625e-04 9.99927806e-01 1.11781766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.840281692999994 meters Centerline goodness : 0.998318 with order 1 Centerline is valid? [True, True] Translation: X:28.45, Y:0.63, Z:0.11 [[ 9.97612341e-01 -6.80121050e-02 -1.19987442e-02 2.84536332e+01] [ 6.80092898e-02 9.97684481e-01 -6.42969731e-04 6.27469751e-01] [ 1.20146906e-02 -1.74591532e-04 9.99927806e-01 1.11801726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.900281693 meters Centerline goodness : 0.997911 with order 1 Centerline is valid? [True, True] Translation: X:28.51, Y:0.63, Z:0.11 [[ 9.97730722e-01 -6.62528456e-02 -1.19986243e-02 2.85121641e+01] [ 6.62498764e-02 9.97802855e-01 -6.45198932e-04 6.29835662e-01] [ 1.20150079e-02 -1.51172583e-04 9.99927806e-01 1.06819663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.960281693 meters Centerline goodness : 0.997883 with order 1 Centerline is valid? [True, True] Translation: X:28.57, Y:0.63, Z:0.11 [[ 9.97679072e-01 -6.70261514e-02 -1.19985186e-02 2.85693976e+01] [ 6.70232146e-02 9.97751206e-01 -6.47158914e-04 6.30205053e-01] [ 1.20149130e-02 -1.58522383e-04 9.99927806e-01 1.07509053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.020281692999994 meters Centerline goodness : 0.998284 with order 1 Centerline is valid? [True, True] Translation: X:28.63, Y:0.63, Z:0.11 [[ 9.97362769e-01 -7.15789405e-02 -1.19984661e-02 2.86271704e+01] [ 7.15763212e-02 9.97434915e-01 -6.48131546e-04 6.27599886e-01] [ 1.20140816e-02 -2.12383788e-04 9.99927806e-01 1.09749719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.080281692999996 meters Centerline goodness : 0.998174 with order 1 Centerline is valid? [True, True] Translation: X:28.68, Y:0.63, Z:0.11 [[ 9.97284617e-01 -7.26597041e-02 -1.19983473e-02 2.86841317e+01] [ 7.26571366e-02 9.97356765e-01 -6.50323396e-04 6.25791220e-01] [ 1.20138851e-02 -2.23208038e-04 9.99927806e-01 1.07667575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.140281693 meters Centerline goodness : 0.997981 with order 1 Centerline is valid? [True, True] Translation: X:28.74, Y:0.62, Z:0.11 [[ 9.97461780e-01 -7.01857406e-02 -1.19982667e-02 2.87429360e+01] [ 7.01829764e-02 9.97533922e-01 -6.51806660e-04 6.20672020e-01] [ 1.20144256e-02 -1.91921836e-04 9.99927806e-01 1.09033350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.200281692999994 meters Centerline goodness : 0.998275 with order 1 Centerline is valid? [True, True] Translation: X:28.80, Y:0.62, Z:0.11 [[ 9.98022863e-01 -6.16961002e-02 -1.19981499e-02 2.88012223e+01] [ 6.16926964e-02 9.98094977e-01 -6.53949049e-04 6.20430794e-01] [ 1.20156393e-02 -8.75421191e-05 9.99927806e-01 1.11440003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.260281692999996 meters Centerline goodness : 0.998242 with order 1 Centerline is valid? [True, True] Translation: X:28.86, Y:0.63, Z:0.11 [[ 9.98351815e-01 -5.61221995e-02 -1.19980330e-02 2.88581205e+01] [ 5.61183675e-02 9.98423907e-01 -6.56086768e-04 6.25036711e-01] [ 1.20159440e-02 -1.83046106e-05 9.99927806e-01 1.12675988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.320281693 meters Centerline goodness : 0.998148 with order 1 Centerline is valid? [True, True] Translation: X:28.92, Y:0.63, Z:0.11 [[ 9.98545067e-01 -5.25718421e-02 -1.19979824e-02 2.89154477e+01] [ 5.25677426e-02 9.98617144e-01 -6.57012190e-04 6.30939916e-01] [ 1.20159312e-02 2.53494323e-05 9.99927806e-01 1.11677088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38028169299999 meters Centerline goodness : 0.997940 with order 1 Centerline is valid? [True, True] Translation: X:28.97, Y:0.63, Z:0.11 [[ 9.98253304e-01 -5.78480103e-02 -1.19978674e-02 2.89736512e+01] [ 5.78442666e-02 9.98325401e-01 -6.59104260e-04 6.34035985e-01] [ 1.20159037e-02 -3.60548373e-05 9.99927806e-01 1.11480793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.440281692999996 meters Centerline goodness : 0.998252 with order 1 Centerline is valid? [True, True] Translation: X:29.03, Y:0.64, Z:0.11 [[ 9.98069857e-01 -6.09312240e-02 -1.19977526e-02 2.90315061e+01] [ 6.09276780e-02 9.98141964e-01 -6.61188731e-04 6.35815283e-01] [ 1.20157473e-02 -7.10826619e-05 9.99927806e-01 1.13989534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.500281693 meters Centerline goodness : 0.998673 with order 1 Centerline is valid? [True, True] Translation: X:29.09, Y:0.64, Z:0.12 [[ 9.97961033e-01 -6.26883833e-02 -1.19976352e-02 2.90890222e+01] [ 6.26849387e-02 9.98033145e-01 -6.63311930e-04 6.40854662e-01] [ 1.20156195e-02 -9.01115669e-05 9.99927806e-01 1.18814333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.560281693 meters Centerline goodness : 0.998163 with order 1 Centerline is valid? [True, True] Translation: X:29.15, Y:0.65, Z:0.12 [[ 9.97965597e-01 -6.26156918e-02 -1.19975988e-02 2.91466224e+01] [ 6.26122340e-02 9.98037708e-01 -6.63969546e-04 6.46304761e-01] [ 1.20156309e-02 -8.85776982e-05 9.99927806e-01 1.15740120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.620281692999995 meters Centerline goodness : 0.998319 with order 1 Centerline is valid? [True, True] Translation: X:29.20, Y:0.65, Z:0.12 [[ 9.97824125e-01 -6.48311415e-02 -1.19974843e-02 2.92046956e+01] [ 6.48278191e-02 9.97896242e-01 -6.66030971e-04 6.50481957e-01] [ 1.20154241e-02 -1.13188973e-04 9.99927806e-01 1.18123104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.680281693 meters Centerline goodness : 0.998484 with order 1 Centerline is valid? [True, True] Translation: X:29.26, Y:0.65, Z:0.12 [[ 9.97546531e-01 -6.89708762e-02 -1.19973695e-02 2.92626741e+01] [ 6.89678283e-02 9.97618661e-01 -6.68092377e-04 6.54922633e-01] [ 1.20148787e-02 -1.60979289e-04 9.99927806e-01 1.17859481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.740281693 meters Centerline goodness : 0.998380 with order 1 Centerline is valid? [True, True] Translation: X:29.32, Y:0.66, Z:0.12 [[ 9.97331376e-01 -7.20152251e-02 -1.19972539e-02 2.93204795e+01] [ 7.20123724e-02 9.97403514e-01 -6.70161941e-04 6.58112943e-01] [ 1.20143651e-02 -1.95577188e-04 9.99927806e-01 1.20787665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.800281692999995 meters Centerline goodness : 0.998626 with order 1 Centerline is valid? [True, True] Translation: X:29.38, Y:0.66, Z:0.12 [[ 9.97353574e-01 -7.17071686e-02 -1.19971392e-02 2.93779189e+01] [ 7.17042690e-02 9.97425709e-01 -6.72208948e-04 6.62535686e-01] [ 1.20144573e-02 -1.89816103e-04 9.99927806e-01 1.19153901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.860281693 meters Centerline goodness : 0.998366 with order 1 Centerline is valid? [True, True] Translation: X:29.44, Y:0.66, Z:0.11 [[ 9.97357003e-01 -7.16594727e-02 -1.19970254e-02 2.94373393e+01] [ 7.16565453e-02 9.97429138e-01 -6.74234484e-04 6.62576766e-01] [ 1.20144980e-02 -1.87212911e-04 9.99927806e-01 1.12331783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.920281693 meters Centerline goodness : 0.998590 with order 1 Centerline is valid? [True, True] Translation: X:29.50, Y:0.66, Z:0.12 [[ 9.97417050e-01 -7.08188038e-02 -1.19969265e-02 2.94953073e+01] [ 7.08157945e-02 9.97489181e-01 -6.75989763e-04 6.64514550e-01] [ 1.20146772e-02 -1.75328167e-04 9.99927806e-01 1.21071210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.980281692999995 meters Centerline goodness : 0.998595 with order 1 Centerline is valid? [True, True] Translation: X:29.55, Y:0.67, Z:0.12 [[ 9.97434519e-01 -7.05723425e-02 -1.19968736e-02 2.95530074e+01] [ 7.05693041e-02 9.97506649e-01 -6.76928005e-04 6.67079623e-01] [ 1.20147335e-02 -1.71419660e-04 9.99927806e-01 1.21611532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.040281693 meters Centerline goodness : 0.998430 with order 1 Centerline is valid? [True, True] Translation: X:29.61, Y:0.67, Z:0.11 [[ 9.97336218e-01 -7.19482166e-02 -1.19967608e-02 2.96120933e+01] [ 7.19452537e-02 9.97408351e-01 -6.78920937e-04 6.66531735e-01] [ 1.20145165e-02 -1.85997558e-04 9.99927806e-01 1.14985759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.100281693 meters Centerline goodness : 0.998679 with order 1 Centerline is valid? [True, True] Translation: X:29.67, Y:0.67, Z:0.12 [[ 9.97000067e-01 -7.64653242e-02 -1.19966619e-02 2.96708609e+01] [ 7.64626672e-02 9.97072213e-01 -6.80663426e-04 6.65102508e-01] [ 1.20135854e-02 -2.38675285e-04 9.99927806e-01 1.19067132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.160281692999995 meters Centerline goodness : 0.998452 with order 1 Centerline is valid? [True, True] Translation: X:29.73, Y:0.66, Z:0.12 [[ 9.96668271e-01 -8.06749004e-02 -1.19965628e-02 2.97301800e+01] [ 8.06725271e-02 9.96740426e-01 -6.82404978e-04 6.61579235e-01] [ 1.20125121e-02 -2.87661652e-04 9.99927806e-01 1.23234727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.220281693 meters Centerline goodness : 0.998633 with order 1 Centerline is valid? [True, True] Translation: X:29.79, Y:0.66, Z:0.12 [[ 9.96554618e-01 -8.20669186e-02 -1.19964636e-02 2.97886019e+01] [ 8.20646251e-02 9.96626775e-01 -6.84144453e-04 6.59896793e-01] [ 1.20121425e-02 -3.02697979e-04 9.99927806e-01 1.24116954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.280281693 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:29.85, Y:0.66, Z:0.13 [[ 9.96769919e-01 -7.94091751e-02 -1.19963432e-02 2.98467665e+01] [ 7.94066640e-02 9.96842069e-01 -6.86250282e-04 6.58629157e-01] [ 1.20129541e-02 -2.68555954e-04 9.99927806e-01 1.27272950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.340281692999994 meters Centerline goodness : 0.998757 with order 1 Centerline is valid? [True, True] Translation: X:29.90, Y:0.66, Z:0.12 [[ 9.97226535e-01 -7.34529016e-02 -1.19962165e-02 2.99045340e+01] [ 7.34499329e-02 9.97298668e-01 -6.88457498e-04 6.55926065e-01] [ 1.20143800e-02 -1.94573213e-04 9.99927806e-01 1.22687361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.400281693 meters Centerline goodness : 0.998330 with order 1 Centerline is valid? [True, True] Translation: X:29.96, Y:0.66, Z:0.12 [[ 9.97586489e-01 -6.83907033e-02 -1.19961772e-02 2.99622978e+01] [ 6.83873603e-02 9.97658606e-01 -6.89142391e-04 6.57333014e-01] [ 1.20152203e-02 -1.32907752e-04 9.99927806e-01 1.23436322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.460281693 meters Centerline goodness : 0.998760 with order 1 Centerline is valid? [True, True] Translation: X:30.02, Y:0.66, Z:0.12 [[ 9.97904456e-01 -6.35829488e-02 -1.19960586e-02 3.00199963e+01] [ 6.35792336e-02 9.97976554e-01 -6.91199577e-04 6.56803981e-01] [ 1.20157338e-02 -7.29490769e-05 9.99927806e-01 1.24539321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.520281692999994 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:30.08, Y:0.66, Z:0.13 [[ 9.98020060e-01 -6.17418594e-02 -1.19959344e-02 3.00786580e+01] [ 6.17379853e-02 9.98092150e-01 -6.93348225e-04 6.58561243e-01] [ 1.20158566e-02 -4.86293877e-05 9.99927806e-01 1.28424090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.580281692999996 meters Centerline goodness : 0.998680 with order 1 Centerline is valid? [True, True] Translation: X:30.14, Y:0.66, Z:0.13 [[ 9.98099712e-01 -6.04405971e-02 -1.19958243e-02 3.01374991e+01] [ 6.04366063e-02 9.98171795e-01 -6.95248211e-04 6.58940575e-01] [ 1.20159147e-02 -3.10598724e-05 9.99927806e-01 1.26315784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.640281693 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:30.20, Y:0.66, Z:0.13 [[ 9.98257071e-01 -5.77834182e-02 -1.19957102e-02 3.01957351e+01] [ 5.77792118e-02 9.98329142e-01 -6.97211235e-04 6.63646702e-01] [ 1.20159544e-02 2.89336250e-06 9.99927806e-01 1.27537883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.700281692999994 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:30.25, Y:0.66, Z:0.13 [[ 9.98333831e-01 -5.64417169e-02 -1.19955798e-02 3.02536979e+01] [ 5.64373868e-02 9.98405895e-01 -6.99448171e-04 6.60356385e-01] [ 1.20159356e-02 2.12835954e-05 9.99927806e-01 1.32938739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.760281692999996 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:30.31, Y:0.66, Z:0.13 [[ 9.98179785e-01 -5.91034940e-02 -1.19955394e-02 3.03121212e+01] [ 5.90993477e-02 9.98251860e-01 -7.00139663e-04 6.60050055e-01] [ 1.20159503e-02 -1.00632986e-05 9.99927806e-01 1.30723014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.820281693 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:30.37, Y:0.66, Z:0.13 [[ 9.98133974e-01 -5.98722004e-02 -1.19954115e-02 3.03698654e+01] [ 5.98680834e-02 9.98206051e-01 -7.02324403e-04 6.59632405e-01] [ 1.20159421e-02 -1.71284505e-05 9.99927806e-01 1.33573345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88028169299999 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:30.43, Y:0.66, Z:0.14 [[ 9.98027382e-01 -6.16235140e-02 -1.19952821e-02 3.04279621e+01] [ 6.16194971e-02 9.98099465e-01 -7.04527221e-04 6.56446941e-01] [ 1.20159001e-02 -3.60057952e-05 9.99927806e-01 1.35296768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.940281692999996 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:30.49, Y:0.66, Z:0.13 [[ 9.97928671e-01 -6.32019273e-02 -1.19951529e-02 3.04862271e+01] [ 6.31979980e-02 9.98000758e-01 -7.06720400e-04 6.55549080e-01] [ 1.20158378e-02 -5.28131009e-05 9.99927806e-01 1.34688503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.000281693 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:30.54, Y:0.65, Z:0.14 [[ 9.97886101e-01 -6.38705556e-02 -1.19950226e-02 3.05448406e+01] [ 6.38666481e-02 9.97958190e-01 -7.08925459e-04 6.54011798e-01] [ 1.20158105e-02 -5.86550260e-05 9.99927806e-01 1.37539626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06028169299999 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:30.60, Y:0.65, Z:0.14 [[ 9.97949476e-01 -6.28726135e-02 -1.19948907e-02 3.06023439e+01] [ 6.28686071e-02 9.98021559e-01 -7.11150742e-04 6.54311703e-01] [ 1.20158714e-02 -4.44095593e-05 9.99927806e-01 1.36493532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.120281692999995 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:30.66, Y:0.66, Z:0.14 [[ 9.98255532e-01 -5.78101751e-02 -1.19948499e-02 3.06589402e+01] [ 5.78057949e-02 9.98327593e-01 -7.11838559e-04 6.55809548e-01] [ 1.20159411e-02 1.72249479e-05 9.99927806e-01 1.35643131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.180281693 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:30.72, Y:0.66, Z:0.14 [[ 9.98676908e-01 -5.00055839e-02 -1.19947930e-02 3.07170269e+01] [ 5.00006291e-02 9.98748932e-01 -7.12794562e-04 6.62587346e-01] [ 1.20154305e-02 1.12104271e-04 9.99927806e-01 1.36533794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.240281693 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:30.77, Y:0.67, Z:0.14 [[ 9.99009079e-01 -4.28601098e-02 -1.19946642e-02 3.07736063e+01] [ 4.28546140e-02 9.99081063e-01 -7.14955922e-04 6.72815523e-01] [ 1.20142850e-02 2.00220752e-04 9.99927806e-01 1.38319661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.300281692999995 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:30.83, Y:0.68, Z:0.14 [[ 9.99134327e-01 -3.98337178e-02 -1.19946084e-02 3.08315424e+01] [ 3.98279927e-02 9.99206294e-01 -7.15891565e-04 6.81530772e-01] [ 1.20136048e-02 2.37550663e-04 9.99927806e-01 1.37690126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.360281693 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:30.89, Y:0.69, Z:0.14 [[ 9.99017263e-01 -4.26689756e-02 -1.19944798e-02 3.08877196e+01] [ 4.26634290e-02 9.99089243e-01 -7.18039616e-04 6.90132364e-01] [ 1.20141937e-02 2.05608335e-04 9.99927806e-01 1.36610404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.420281693 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:30.95, Y:0.70, Z:0.14 [[ 9.98843406e-01 -4.65616211e-02 -1.19943914e-02 3.09455655e+01] [ 4.65563374e-02 9.98915407e-01 -7.19513130e-04 6.96173393e-01] [ 1.20148840e-02 1.60266013e-04 9.99927806e-01 1.38262546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.480281692999995 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:31.00, Y:0.70, Z:0.14 [[ 9.98575092e-01 -5.19992723e-02 -1.19942531e-02 3.10024779e+01] [ 5.19943530e-02 9.98647118e-01 -7.21810431e-04 6.99900367e-01] [ 1.20155599e-02 9.71484857e-05 9.99927806e-01 1.35849138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.540281693 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:31.06, Y:0.71, Z:0.13 [[ 9.98434846e-01 -5.46259838e-02 -1.19941578e-02 3.10608694e+01] [ 5.46212351e-02 9.98506884e-01 -7.23390556e-04 7.05384571e-01] [ 1.20157651e-02 6.71226235e-05 9.99927806e-01 1.33989242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.600281693 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:31.12, Y:0.71, Z:0.14 [[ 9.98504294e-01 -5.33415263e-02 -1.19940427e-02 3.11189612e+01] [ 5.33366620e-02 9.98576324e-01 -7.25294369e-04 7.06345032e-01] [ 1.20156554e-02 8.44873400e-05 9.99927806e-01 1.37758896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.660281692999995 meters Centerline goodness : 0.999470 with order 1 Centerline is valid? [True, True] Translation: X:31.18, Y:0.71, Z:0.14 [[ 9.98664971e-01 -5.02436032e-02 -1.19940020e-02 3.11776533e+01] [ 5.02385074e-02 9.98736985e-01 -7.25967040e-04 7.09505331e-01] [ 1.20153286e-02 1.22437095e-04 9.99927806e-01 1.42756579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.720281693 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:31.24, Y:0.72, Z:0.14 [[ 9.98958464e-01 -4.40242422e-02 -1.19938920e-02 3.12359055e+01] [ 4.40186763e-02 9.99030443e-01 -7.27779269e-04 7.16793749e-01] [ 1.20143032e-02 1.99066010e-04 9.99927806e-01 1.38656081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.780281693 meters Centerline goodness : 0.999027 with order 1 Centerline is valid? [True, True] Translation: X:31.29, Y:0.72, Z:0.14 [[ 9.99008436e-01 -4.28753379e-02 -1.19937760e-02 3.12943393e+01] [ 4.28696663e-02 9.99080407e-01 -7.29686618e-04 7.23292138e-01] [ 1.20140322e-02 2.14793912e-04 9.99927806e-01 1.42568432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.840281692999994 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:31.35, Y:0.73, Z:0.15 [[ 9.99132788e-01 -3.98726108e-02 -1.19936557e-02 3.13522533e+01] [ 3.98666993e-02 9.99204739e-01 -7.31658988e-04 7.33599267e-01] [ 1.20132907e-02 2.52877020e-04 9.99927806e-01 1.48914806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.900281693 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:31.41, Y:0.74, Z:0.15 [[ 9.99212203e-01 -3.78302504e-02 -1.19935319e-02 3.14092062e+01] [ 3.78241676e-02 9.99284141e-01 -7.33681555e-04 7.40709501e-01] [ 1.20127016e-02 2.79458201e-04 9.99927806e-01 1.49648105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.960281693 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:31.47, Y:0.75, Z:0.15 [[ 9.99309082e-01 -3.51783346e-02 -1.19934708e-02 3.14670189e+01] [ 3.51720489e-02 9.99381002e-01 -7.34679729e-04 7.53285357e-01] [ 1.20118917e-02 3.12337183e-04 9.99927806e-01 1.46195480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.020281692999994 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:31.52, Y:0.77, Z:0.14 [[ 9.99218039e-01 -3.76758601e-02 -1.19933336e-02 3.15246811e+01] [ 3.76697275e-02 9.99289972e-01 -7.36911906e-04 7.66410946e-01] [ 1.20125818e-02 2.84550060e-04 9.99927806e-01 1.43729442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.080281692999996 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:31.58, Y:0.77, Z:0.14 [[ 9.99146519e-01 -3.95271526e-02 -1.19932149e-02 3.15821029e+01] [ 3.95211300e-02 9.99218462e-01 -7.38838956e-04 7.74937156e-01] [ 1.20130460e-02 2.64222964e-04 9.99927806e-01 1.41424743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.140281693 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:31.64, Y:0.79, Z:0.14 [[ 9.98971118e-01 -4.37363829e-02 -1.19930771e-02 3.16395836e+01] [ 4.37306368e-02 9.99043083e-01 -7.41070194e-04 7.89328491e-01] [ 1.20140124e-02 2.15842824e-04 9.99927806e-01 1.44331917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.200281692999994 meters Centerline goodness : 0.999195 with order 1 Centerline is valid? [True, True] Translation: X:31.70, Y:0.80, Z:0.15 [[ 9.98677742e-01 -4.99893474e-02 -1.19930343e-02 3.16971690e+01] [ 4.99840436e-02 9.98749741e-01 -7.41761353e-04 8.04670458e-01] [ 1.20151201e-02 1.41320203e-04 9.99927806e-01 1.46703493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.260281692999996 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:31.76, Y:0.81, Z:0.15 [[ 9.98416294e-01 -5.49643020e-02 -1.19928989e-02 3.17550343e+01] [ 5.49593307e-02 9.98488317e-01 -7.43944939e-04 8.14047859e-01] [ 1.20156598e-02 8.36450541e-05 9.99927806e-01 1.48128386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.320281693 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:31.81, Y:0.82, Z:0.15 [[ 9.97960055e-01 -6.27048817e-02 -1.19927639e-02 3.18126491e+01] [ 6.27004430e-02 9.98032113e-01 -7.46114106e-04 8.23393305e-01] [ 1.20159485e-02 -7.35953553e-06 9.99927806e-01 1.46433029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38028169299999 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:31.87, Y:0.83, Z:0.15 [[ 9.97511449e-01 -6.94772317e-02 -1.19926296e-02 3.18696800e+01] [ 6.94732563e-02 9.97583534e-01 -7.48266181e-04 8.31422761e-01] [ 1.20156373e-02 -8.67629494e-05 9.99927806e-01 1.49196513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.440281692999996 meters Centerline goodness : 0.998962 with order 1 Centerline is valid? [True, True] Translation: X:31.93, Y:0.84, Z:0.15 [[ 9.97355359e-01 -7.16830952e-02 -1.19925882e-02 3.19288722e+01] [ 7.16792713e-02 9.97427452e-01 -7.48929116e-04 8.36207856e-01] [ 1.20154223e-02 -1.12671518e-04 9.99927806e-01 1.45831435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.500281693 meters Centerline goodness : 0.998790 with order 1 Centerline is valid? [True, True] Translation: X:31.99, Y:0.84, Z:0.15 [[ 9.97192292e-01 -7.39169384e-02 -1.19924823e-02 3.19870868e+01] [ 7.39132556e-02 9.97264392e-01 -7.50621357e-04 8.39556270e-01] [ 1.20151592e-02 -1.37889579e-04 9.99927806e-01 1.48809585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56028169299999 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:32.05, Y:0.84, Z:0.15 [[ 9.97184980e-01 -7.40155273e-02 -1.19923685e-02 3.20452833e+01] [ 7.40118299e-02 9.97257080e-01 -7.52434851e-04 8.43969261e-01] [ 1.20151663e-02 -1.37260408e-04 9.99927806e-01 1.51829911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.620281692999995 meters Centerline goodness : 0.998679 with order 1 Centerline is valid? [True, True] Translation: X:32.10, Y:0.85, Z:0.15 [[ 9.97435218e-01 -7.05632508e-02 -1.19922335e-02 3.21037054e+01] [ 7.05592781e-02 9.97507303e-01 -7.54580665e-04 8.47803885e-01] [ 1.20155862e-02 -9.35180089e-05 9.99927806e-01 1.48579292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.680281693 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:32.16, Y:0.85, Z:0.15 [[ 9.97719640e-01 -6.64206926e-02 -1.19921132e-02 3.21607281e+01] [ 6.64163976e-02 9.97791707e-01 -7.56487749e-04 8.50921887e-01] [ 1.20158775e-02 -4.17102731e-05 9.99927806e-01 1.49179590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.740281693 meters Centerline goodness : 0.998830 with order 1 Centerline is valid? [True, True] Translation: X:32.22, Y:0.85, Z:0.15 [[ 9.97784268e-01 -6.54426844e-02 -1.19920539e-02 3.22189973e+01] [ 6.54383075e-02 9.97856329e-01 -7.57427440e-04 8.53219860e-01] [ 1.20159149e-02 -2.89905241e-05 9.99927806e-01 1.53016671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.800281692999995 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:32.28, Y:0.86, Z:0.16 [[ 9.97791562e-01 -6.53313862e-02 -1.19920113e-02 3.22768616e+01] [ 6.53269931e-02 9.97863623e-01 -7.58101111e-04 8.56244017e-01] [ 1.20159196e-02 -2.69751458e-05 9.99927806e-01 1.59412931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.860281693 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:32.33, Y:0.86, Z:0.16 [[ 9.97994589e-01 -6.21529821e-02 -1.19919488e-02 3.23344499e+01] [ 6.21483477e-02 9.98066634e-01 -7.59088202e-04 8.62891634e-01] [ 1.20159436e-02 1.22861155e-05 9.99927806e-01 1.61473687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.920281693 meters Centerline goodness : 0.998615 with order 1 Centerline is valid? [True, True] Translation: X:32.39, Y:0.87, Z:0.16 [[ 9.98345099e-01 -5.62428690e-02 -1.19918068e-02 3.23917332e+01] [ 5.62377812e-02 9.98417113e-01 -7.61324069e-04 8.73685067e-01] [ 1.20156442e-02 8.56715443e-05 9.99927806e-01 1.56867985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.980281692999995 meters Centerline goodness : 0.998679 with order 1 Centerline is valid? [True, True] Translation: X:32.45, Y:0.88, Z:0.16 [[ 9.98320559e-01 -5.66767911e-02 -1.19917630e-02 3.24492222e+01] [ 5.66717264e-02 9.98392575e-01 -7.62013940e-04 8.82405964e-01] [ 1.20156756e-02 8.11402717e-05 9.99927806e-01 1.56633804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.040281693 meters Centerline goodness : 0.998771 with order 1 Centerline is valid? [True, True] Translation: X:32.51, Y:0.89, Z:0.16 [[ 9.98073160e-01 -6.08783058e-02 -1.19916180e-02 3.25061644e+01] [ 6.08735169e-02 9.98145195e-01 -7.64288618e-04 8.94592524e-01] [ 1.20159045e-02 3.28439942e-05 9.99927806e-01 1.62340809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.100281693 meters Centerline goodness : 0.998685 with order 1 Centerline is valid? [True, True] Translation: X:32.56, Y:0.90, Z:0.16 [[ 9.97569132e-01 -6.86442279e-02 -1.19915732e-02 3.25642688e+01] [ 6.86399914e-02 9.97641201e-01 -7.64990629e-04 9.01415156e-01] [ 1.20157997e-02 -5.99704457e-05 9.99927806e-01 1.63600779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.160281692999995 meters Centerline goodness : 0.998862 with order 1 Centerline is valid? [True, True] Translation: X:32.62, Y:0.91, Z:0.16 [[ 9.96973964e-01 -7.68057385e-02 -1.19914364e-02 3.26230781e+01] [ 7.68020662e-02 9.97046064e-01 -7.67129327e-04 9.11744717e-01] [ 1.20149344e-02 -1.56159128e-04 9.99927806e-01 1.60453834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.220281693 meters Centerline goodness : 0.998726 with order 1 Centerline is valid? [True, True] Translation: X:32.68, Y:0.92, Z:0.16 [[ 9.96848118e-01 -7.84221632e-02 -1.19913715e-02 3.26811204e+01] [ 7.84185956e-02 9.96920224e-01 -7.68142362e-04 9.17111879e-01] [ 1.20146802e-02 -1.74625246e-04 9.99927806e-01 1.57834838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.280281693 meters Centerline goodness : 0.998509 with order 1 Centerline is valid? [True, True] Translation: X:32.74, Y:0.92, Z:0.16 [[ 9.96413318e-01 -8.37657948e-02 -1.19913294e-02 3.27386953e+01] [ 8.37626059e-02 9.96485441e-01 -7.68799295e-04 9.24215521e-01] [ 1.20135843e-02 -2.38383143e-04 9.99927806e-01 1.57968900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.340281692999994 meters Centerline goodness : 0.998431 with order 1 Centerline is valid? [True, True] Translation: X:32.80, Y:0.93, Z:0.16 [[ 9.96172779e-01 -8.65794818e-02 -1.19911911e-02 3.27961056e+01] [ 8.65764707e-02 9.96244910e-01 -7.70950436e-04 9.28786326e-01] [ 1.20129116e-02 -2.70155168e-04 9.99927806e-01 1.59254114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.400281693 meters Centerline goodness : 0.998464 with order 1 Centerline is valid? [True, True] Translation: X:32.85, Y:0.93, Z:0.16 [[ 9.96100089e-01 -8.74118233e-02 -1.19910533e-02 3.28540672e+01] [ 8.74088468e-02 9.96172222e-01 -7.73088247e-04 9.31055355e-01] [ 1.20127312e-02 -2.78050867e-04 9.99927806e-01 1.61293091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.460281693 meters Centerline goodness : 0.998685 with order 1 Centerline is valid? [True, True] Translation: X:32.91, Y:0.93, Z:0.16 [[ 9.96306607e-01 -8.50256422e-02 -1.19910106e-02 3.29119992e+01] [ 8.50224850e-02 9.96378732e-01 -7.73750321e-04 9.32776687e-01] [ 1.20133765e-02 -2.48612958e-04 9.99927806e-01 1.63118696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.520281692999994 meters Centerline goodness : 0.998551 with order 1 Centerline is valid? [True, True] Translation: X:32.97, Y:0.93, Z:0.17 [[ 9.96390626e-01 -8.40353428e-02 -1.19908750e-02 3.29695743e+01] [ 8.40320886e-02 9.96462747e-01 -7.75845765e-04 9.33243621e-01] [ 1.20136587e-02 -2.34572821e-04 9.99927806e-01 1.66059612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.580281692999996 meters Centerline goodness : 0.998723 with order 1 Centerline is valid? [True, True] Translation: X:33.03, Y:0.93, Z:0.17 [[ 9.96587495e-01 -8.16675402e-02 -1.19907387e-02 3.30268203e+01] [ 8.16640895e-02 9.96659607e-01 -7.77945976e-04 9.30467376e-01] [ 1.20142179e-02 -2.03921527e-04 9.99927806e-01 1.66552750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.640281693 meters Centerline goodness : 0.998542 with order 1 Centerline is valid? [True, True] Translation: X:33.08, Y:0.93, Z:0.17 [[ 9.96924794e-01 -7.74414493e-02 -1.19906796e-02 3.30846422e+01] [ 7.74376819e-02 9.96996890e-01 -7.78855754e-04 9.28388078e-01] [ 1.20149860e-02 -1.52069821e-04 9.99927806e-01 1.70342739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.700281692999994 meters Centerline goodness : 0.998712 with order 1 Centerline is valid? [True, True] Translation: X:33.14, Y:0.93, Z:0.17 [[ 9.97249774e-01 -7.31376242e-02 -1.19906377e-02 3.31420429e+01] [ 7.31335379e-02 9.97321853e-01 -7.79501138e-04 9.31541427e-01] [ 1.20155358e-02 -9.95604195e-05 9.99927806e-01 1.72964619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.760281692999996 meters Centerline goodness : 0.998349 with order 1 Centerline is valid? [True, True] Translation: X:33.20, Y:0.94, Z:0.17 [[ 9.97803506e-01 -6.51489904e-02 -1.19905040e-02 3.32000971e+01] [ 6.51443023e-02 9.97875548e-01 -7.81552332e-04 9.35836147e-01] [ 1.20159481e-02 -1.27735717e-06 9.99927806e-01 1.74227534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.820281693 meters Centerline goodness : 0.998386 with order 1 Centerline is valid? [True, True] Translation: X:33.26, Y:0.94, Z:0.17 [[ 9.97894533e-01 -6.37395605e-02 -1.19903630e-02 3.32578416e+01] [ 6.37347448e-02 9.97966567e-01 -7.83709546e-04 9.39131991e-01] [ 1.20159347e-02 1.78567483e-05 9.99927806e-01 1.73875569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88028169299999 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:33.32, Y:0.94, Z:0.18 [[ 9.97987916e-01 -6.22603658e-02 -1.19902210e-02 3.33157476e+01] [ 6.22554173e-02 9.98059941e-01 -7.85876039e-04 9.40711381e-01] [ 1.20158882e-02 3.78385815e-05 9.99927806e-01 1.76056330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.940281692999996 meters Centerline goodness : 0.998428 with order 1 Centerline is valid? [True, True] Translation: X:33.37, Y:0.94, Z:0.17 [[ 9.98111746e-01 -6.02426817e-02 -1.19900766e-02 3.33738390e+01] [ 6.02375612e-02 9.98183758e-01 -7.88072477e-04 9.43710219e-01] [ 1.20157753e-02 6.43314228e-05 9.99927806e-01 1.71242604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.000281693 meters Centerline goodness : 0.998369 with order 1 Centerline is valid? [True, True] Translation: X:33.43, Y:0.95, Z:0.17 [[ 9.98159819e-01 -5.94408485e-02 -1.19900319e-02 3.34306040e+01] [ 5.94356620e-02 9.98231827e-01 -7.88752275e-04 9.47647952e-01] [ 1.20157155e-02 7.46653463e-05 9.99927806e-01 1.73075281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06028169299999 meters Centerline goodness : 0.998615 with order 1 Centerline is valid? [True, True] Translation: X:33.49, Y:0.95, Z:0.17 [[ 9.98231903e-01 -5.82177619e-02 -1.19899720e-02 3.34883456e+01] [ 5.82124762e-02 9.98303904e-01 -7.89661766e-04 9.49587328e-01] [ 1.20156082e-02 9.02996096e-05 9.99927806e-01 1.74905351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.120281692999995 meters Centerline goodness : 0.998011 with order 1 Centerline is valid? [True, True] Translation: X:33.55, Y:0.95, Z:0.17 [[ 9.98157455e-01 -5.94805821e-02 -1.19898305e-02 3.35466279e+01] [ 5.94753618e-02 9.98229460e-01 -7.91804161e-04 9.50496080e-01] [ 1.20156990e-02 7.72457194e-05 9.99927806e-01 1.65504128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.180281693 meters Centerline goodness : 0.998542 with order 1 Centerline is valid? [True, True] Translation: X:33.60, Y:0.95, Z:0.17 [[ 9.98076345e-01 -6.08264308e-02 -1.19897867e-02 3.36046248e+01] [ 6.08212996e-02 9.98148356e-01 -7.92467459e-04 9.52321607e-01] [ 1.20157888e-02 6.17086192e-05 9.99927806e-01 1.68293024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.240281693 meters Centerline goodness : 0.998563 with order 1 Centerline is valid? [True, True] Translation: X:33.66, Y:0.96, Z:0.18 [[ 9.98188302e-01 -5.89606599e-02 -1.19897434e-02 3.36624025e+01] [ 5.89553863e-02 9.98260303e-01 -7.93121191e-04 9.56413146e-01] [ 1.20156478e-02 8.48243410e-05 9.99927806e-01 1.76547854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.300281692999995 meters Centerline goodness : 0.998257 with order 1 Centerline is valid? [True, True] Translation: X:33.72, Y:0.96, Z:0.17 [[ 9.98363648e-01 -5.59130876e-02 -1.19897007e-02 3.37203737e+01] [ 5.59075864e-02 9.98435632e-01 -7.93765955e-04 9.62716582e-01] [ 1.20153263e-02 1.22151845e-04 9.99927806e-01 1.74716347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.360281693 meters Centerline goodness : 0.998559 with order 1 Centerline is valid? [True, True] Translation: X:33.78, Y:0.97, Z:0.18 [[ 9.98558645e-01 -5.23152279e-02 -1.19895654e-02 3.37785914e+01] [ 5.23094429e-02 9.98630607e-01 -7.95805025e-04 9.73062826e-01] [ 1.20147797e-02 1.67490501e-04 9.99927806e-01 1.81328688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.420281693 meters Centerline goodness : 0.998476 with order 1 Centerline is valid? [True, True] Translation: X:33.84, Y:0.98, Z:0.18 [[ 9.98467138e-01 -5.40335777e-02 -1.19894464e-02 3.38351839e+01] [ 5.40278951e-02 9.98539108e-01 -7.97593719e-04 9.79033241e-01] [ 1.20150279e-02 1.48606566e-04 9.99927806e-01 1.81765185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.480281692999995 meters Centerline goodness : 0.998062 with order 1 Centerline is valid? [True, True] Translation: X:33.89, Y:0.98, Z:0.18 [[ 9.98057652e-01 -6.11324742e-02 -1.19893528e-02 3.38928461e+01] [ 6.11272866e-02 9.98129659e-01 -7.98997985e-04 9.82878452e-01] [ 1.20157734e-02 6.45694475e-05 9.99927806e-01 1.78744523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.540281693 meters Centerline goodness : 0.998387 with order 1 Centerline is valid? [True, True] Translation: X:33.95, Y:0.99, Z:0.18 [[ 9.97944360e-01 -6.29548489e-02 -1.19892033e-02 3.39497611e+01] [ 6.29497659e-02 9.98016375e-01 -8.01235724e-04 9.90101208e-01] [ 1.20158628e-02 4.48711337e-05 9.99927806e-01 1.80285332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.600281693 meters Centerline goodness : 0.998187 with order 1 Centerline is valid? [True, True] Translation: X:34.01, Y:1.00, Z:0.18 [[ 9.98040622e-01 -6.14099247e-02 -1.19891009e-02 3.40077961e+01] [ 6.14047119e-02 9.98112627e-01 -8.02764314e-04 9.95499309e-01] [ 1.20157707e-02 6.50041073e-05 9.99927806e-01 1.82177071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.660281692999995 meters Centerline goodness : 0.998049 with order 1 Centerline is valid? [True, True] Translation: X:34.07, Y:1.00, Z:0.18 [[ 9.98164591e-01 -5.93608797e-02 -1.19889514e-02 3.40652612e+01] [ 5.93554924e-02 9.98236584e-01 -8.04991354e-04 1.00077125e+00] [ 1.20155949e-02 9.19037543e-05 9.99927806e-01 1.77520104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.720281693 meters Centerline goodness : 0.998334 with order 1 Centerline is valid? [True, True] Translation: X:34.12, Y:1.01, Z:0.18 [[ 9.98011440e-01 -6.18824054e-02 -1.19889052e-02 3.41236681e+01] [ 6.18771917e-02 9.98083445e-01 -8.05678830e-04 1.00900459e+00] [ 1.20157851e-02 6.22369060e-05 9.99927806e-01 1.75848825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.780281693 meters Centerline goodness : 0.998428 with order 1 Centerline is valid? [True, True] Translation: X:34.18, Y:1.02, Z:0.18 [[ 9.97793523e-01 -6.53020309e-02 -1.19887766e-02 3.41817231e+01] [ 6.52970410e-02 9.97865544e-01 -8.07587874e-04 1.01687158e+00] [ 1.20159242e-02 2.29743134e-05 9.99927806e-01 1.78090326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.840281692999994 meters Centerline goodness : 0.998447 with order 1 Centerline is valid? [True, True] Translation: X:34.24, Y:1.02, Z:0.18 [[ 9.97549137e-01 -6.89346852e-02 -1.19886486e-02 3.42382349e+01] [ 6.89299348e-02 9.97621175e-01 -8.09483718e-04 1.02321622e+00] [ 1.20159312e-02 -1.88769799e-05 9.99927806e-01 1.79149106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.900281693 meters Centerline goodness : 0.998600 with order 1 Centerline is valid? [True, True] Translation: X:34.30, Y:1.03, Z:0.18 [[ 9.97453848e-01 -7.03000354e-02 -1.19885853e-02 3.42958696e+01] [ 7.02953724e-02 9.97525891e-01 -8.10419688e-04 1.03016569e+00] [ 1.20158968e-02 -3.43858318e-05 9.99927806e-01 1.81280766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.960281693 meters Centerline goodness : 0.998137 with order 1 Centerline is valid? [True, True] Translation: X:34.35, Y:1.03, Z:0.18 [[ 9.97295564e-01 -7.25109312e-02 -1.19884445e-02 3.43539155e+01] [ 7.25064029e-02 9.97367616e-01 -8.12497097e-04 1.03183771e+00] [ 1.20158012e-02 -5.89392367e-05 9.99927806e-01 1.83922671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.020281692999994 meters Centerline goodness : 0.998478 with order 1 Centerline is valid? [True, True] Translation: X:34.41, Y:1.04, Z:0.18 [[ 9.97235223e-01 -7.33361373e-02 -1.19884010e-02 3.44125951e+01] [ 7.33316610e-02 9.97307278e-01 -8.13138829e-04 1.03667738e+00] [ 1.20157520e-02 -6.82386751e-05 9.99927806e-01 1.79590917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.080281692999996 meters Centerline goodness : 0.998296 with order 1 Centerline is valid? [True, True] Translation: X:34.47, Y:1.04, Z:0.19 [[ 9.97669430e-01 -6.71713456e-02 -1.19882798e-02 3.44704909e+01] [ 6.71664025e-02 9.97741455e-01 -8.14920825e-04 1.04353889e+00] [ 1.20159431e-02 7.81196517e-06 9.99927806e-01 1.85966831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.140281693 meters Centerline goodness : 0.998290 with order 1 Centerline is valid? [True, True] Translation: X:34.53, Y:1.05, Z:0.19 [[ 9.97904943e-01 -6.35767829e-02 -1.19882322e-02 3.45277771e+01] [ 6.35715720e-02 9.97976949e-01 -8.15620955e-04 1.05019194e+00] [ 1.20158340e-02 5.18014150e-05 9.99927806e-01 1.90495998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.200281692999994 meters Centerline goodness : 0.998153 with order 1 Centerline is valid? [True, True] Translation: X:34.59, Y:1.05, Z:0.19 [[ 9.97612010e-01 -6.80188271e-02 -1.19881850e-02 3.45860232e+01] [ 6.80139286e-02 9.97684038e-01 -8.16314276e-04 1.05296184e+00] [ 1.20159456e-02 -9.98632008e-07 9.99927806e-01 1.93540322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.260281692999996 meters Centerline goodness : 0.997850 with order 1 Centerline is valid? [True, True] Translation: X:34.64, Y:1.06, Z:0.19 [[ 9.97105469e-01 -7.50797556e-02 -1.19880441e-02 3.46431859e+01] [ 7.50753423e-02 9.97177528e-01 -8.18377776e-04 1.05563399e+00] [ 1.20156518e-02 -8.39975594e-05 9.99927806e-01 1.88468176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.320281693 meters Centerline goodness : 0.998257 with order 1 Centerline is valid? [True, True] Translation: X:34.70, Y:1.05, Z:0.18 [[ 9.96390524e-01 -8.40369676e-02 -1.19879473e-02 3.47021966e+01] [ 8.40331849e-02 9.96462619e-01 -8.19794450e-04 1.05295878e+00] [ 1.20144344e-02 -1.90549967e-04 9.99927806e-01 1.83263806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38028169299999 meters Centerline goodness : 0.997850 with order 1 Centerline is valid? [True, True] Translation: X:34.76, Y:1.05, Z:0.19 [[ 9.95745778e-01 -9.13599356e-02 -1.19878177e-02 3.47608105e+01] [ 9.13566604e-02 9.95817898e-01 -8.21683911e-04 1.05029112e+00] [ 1.20127525e-02 -2.76978708e-04 9.99927806e-01 1.88684307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.440281692999996 meters Centerline goodness : 0.997835 with order 1 Centerline is valid? [True, True] Translation: X:34.82, Y:1.04, Z:0.18 [[ 9.95244982e-01 -9.66629189e-02 -1.19877708e-02 3.48198252e+01] [ 9.66600196e-02 9.95317117e-01 -8.22367728e-04 1.04171284e+00] [ 1.20111260e-02 -3.40280809e-04 9.99927806e-01 1.82524436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.500281693 meters Centerline goodness : 0.998026 with order 1 Centerline is valid? [True, True] Translation: X:34.88, Y:1.04, Z:0.19 [[ 9.95305559e-01 -9.60371690e-02 -1.19877246e-02 3.48787993e+01] [ 9.60342162e-02 9.95377693e-01 -8.23041158e-04 1.03744607e+00] [ 1.20113562e-02 -3.32054296e-04 9.99927806e-01 1.87937114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56028169299999 meters Centerline goodness : 0.998129 with order 1 Centerline is valid? [True, True] Translation: X:34.94, Y:1.02, Z:0.19 [[ 9.95512223e-01 -9.38707149e-02 -1.19875957e-02 3.49389441e+01] [ 9.38675826e-02 9.95584349e-01 -8.24914473e-04 1.02434695e+00] [ 1.20120980e-02 -3.04034188e-04 9.99927806e-01 1.92710418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.620281692999995 meters Centerline goodness : 0.997995 with order 1 Centerline is valid? [True, True] Translation: X:35.00, Y:1.01, Z:0.19 [[ 9.96156486e-01 -8.67672480e-02 -1.19874667e-02 3.49971024e+01] [ 8.67635789e-02 9.96228587e-01 -8.26784050e-04 1.01423789e+00] [ 1.20139948e-02 -2.16469221e-04 9.99927806e-01 1.94361875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.680281693 meters Centerline goodness : 0.997789 with order 1 Centerline is valid? [True, True] Translation: X:35.06, Y:1.01, Z:0.19 [[ 9.97115466e-01 -7.49469840e-02 -1.19873662e-02 3.50551263e+01] [ 7.49424425e-02 9.97187517e-01 -8.28239903e-04 1.00907154e+00] [ 1.20157260e-02 -7.25116815e-05 9.99927806e-01 1.94478266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.740281693 meters Centerline goodness : 0.997665 with order 1 Centerline is valid? [True, True] Translation: X:35.11, Y:1.01, Z:0.19 [[ 9.97383901e-01 -7.12857707e-02 -1.19872100e-02 3.51121754e+01] [ 7.12809376e-02 9.97455933e-01 -8.30493336e-04 1.01096416e+00] [ 1.20159161e-02 -2.61388874e-05 9.99927806e-01 1.94918719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.800281692999995 meters Centerline goodness : 0.997962 with order 1 Centerline is valid? [True, True] Translation: X:35.17, Y:1.01, Z:0.19 [[ 9.97923801e-01 -6.32802879e-02 -1.19871422e-02 3.51714243e+01] [ 6.32748653e-02 9.97995792e-01 -8.31471374e-04 1.01438836e+00] [ 1.20157332e-02 7.12602673e-05 9.99927806e-01 1.93772849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.860281693 meters Centerline goodness : 0.998091 with order 1 Centerline is valid? [True, True] Translation: X:35.23, Y:1.02, Z:0.20 [[ 9.98272563e-01 -5.75169628e-02 -1.19870210e-02 3.52307261e+01] [ 5.75111035e-02 9.98344519e-01 -8.33215123e-04 1.01592676e+00] [ 1.20151007e-02 1.42388991e-04 9.99927806e-01 1.96809989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.920281693 meters Centerline goodness : 0.997614 with order 1 Centerline is valid? [True, True] Translation: X:35.29, Y:1.02, Z:0.20 [[ 9.98485125e-01 -5.37007391e-02 -1.19868900e-02 3.52887093e+01] [ 5.36945823e-02 9.98557056e-01 -8.35095272e-04 1.02254619e+00] [ 1.20144388e-02 1.90199156e-04 9.99927806e-01 1.98020515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.980281692999995 meters Centerline goodness : 0.997890 with order 1 Centerline is valid? [True, True] Translation: X:35.35, Y:1.03, Z:0.19 [[ 9.98696358e-01 -4.96175725e-02 -1.19867373e-02 3.53471322e+01] [ 4.96110954e-02 9.98768260e-01 -8.37280682e-04 1.03231439e+00] [ 1.20135166e-02 2.41513997e-04 9.99927806e-01 1.94472311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.040281693 meters Centerline goodness : 0.997770 with order 1 Centerline is valid? [True, True] Translation: X:35.41, Y:1.04, Z:0.20 [[ 9.98655307e-01 -5.04370811e-02 -1.19865977e-02 3.54053361e+01] [ 5.04306391e-02 9.98727213e-01 -8.39275158e-04 1.03723770e+00] [ 1.20136719e-02 2.33654808e-04 9.99927806e-01 1.96756153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.100281693 meters Centerline goodness : 0.997922 with order 1 Centerline is valid? [True, True] Translation: X:35.46, Y:1.05, Z:0.20 [[ 9.98369256e-01 -5.58135663e-02 -1.19864366e-02 3.54639404e+01] [ 5.58074840e-02 9.98441193e-01 -8.41570019e-04 1.04509085e+00] [ 1.20147231e-02 1.71264766e-04 9.99927806e-01 2.02978961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.160281692999995 meters Centerline goodness : 0.997994 with order 1 Centerline is valid? [True, True] Translation: X:35.52, Y:1.05, Z:0.20 [[ 9.97956447e-01 -6.27635080e-02 -1.19862936e-02 3.55208158e+01] [ 6.27579024e-02 9.98028423e-01 -8.43601020e-04 1.04763855e+00] [ 1.20156091e-02 8.96424313e-05 9.99927806e-01 2.02196628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.220281693 meters Centerline goodness : 0.998255 with order 1 Centerline is valid? [True, True] Translation: X:35.58, Y:1.05, Z:0.20 [[ 9.97958183e-01 -6.27359168e-02 -1.19862230e-02 3.55795479e+01] [ 6.27302971e-02 9.98030158e-01 -8.44603142e-04 1.05089387e+00] [ 1.20155990e-02 9.09792853e-05 9.99927806e-01 1.99022920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.280281693 meters Centerline goodness : 0.997994 with order 1 Centerline is valid? [True, True] Translation: X:35.64, Y:1.05, Z:0.20 [[ 9.97980984e-01 -6.23721812e-02 -1.19860868e-02 3.56371941e+01] [ 6.23665121e-02 9.98052955e-01 -8.46532148e-04 1.05272883e+00] [ 1.20155494e-02 9.72925597e-05 9.99927806e-01 2.04195682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.340281692999994 meters Centerline goodness : 0.997896 with order 1 Centerline is valid? [True, True] Translation: X:35.70, Y:1.05, Z:0.21 [[ 9.97803728e-01 -6.51464135e-02 -1.19860118e-02 3.56959262e+01] [ 6.51409318e-02 9.97875714e-01 -8.47593129e-04 1.05144199e+00] [ 1.20157677e-02 6.49516104e-05 9.99927806e-01 2.10902981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.400281693 meters Centerline goodness : 0.998162 with order 1 Centerline is valid? [True, True] Translation: X:35.75, Y:1.05, Z:0.21 [[ 9.97657998e-01 -6.73413578e-02 -1.19858778e-02 3.57526353e+01] [ 6.73360118e-02 9.97729993e-01 -8.49483641e-04 1.05356114e+00] [ 1.20158751e-02 4.04129421e-05 9.99927806e-01 2.07983454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.460281693 meters Centerline goodness : 0.998191 with order 1 Centerline is valid? [True, True] Translation: X:35.81, Y:1.06, Z:0.20 [[ 9.97572156e-01 -6.86012717e-02 -1.19857725e-02 3.58111275e+01] [ 6.85959988e-02 9.97644157e-01 -8.50966442e-04 1.05725003e+00] [ 1.20159133e-02 2.67243933e-05 9.99927806e-01 2.01764347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.520281692999994 meters Centerline goodness : 0.997835 with order 1 Centerline is valid? [True, True] Translation: X:35.87, Y:1.06, Z:0.20 [[ 9.97639378e-01 -6.76166891e-02 -1.19856395e-02 3.58699397e+01] [ 6.76113227e-02 9.97711372e-01 -8.52834935e-04 1.06469413e+00] [ 1.20158747e-02 4.04567713e-05 9.99927806e-01 1.99733644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.580281692999996 meters Centerline goodness : 0.997886 with order 1 Centerline is valid? [True, True] Translation: X:35.93, Y:1.07, Z:0.21 [[ 9.97392475e-01 -7.11659933e-02 -1.19854983e-02 3.59289123e+01] [ 7.11608592e-02 9.97464486e-01 -8.54814847e-04 1.06963353e+00] [ 1.20159427e-02 -3.12463688e-07 9.99927806e-01 2.07191730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.640281693 meters Centerline goodness : 0.997458 with order 1 Centerline is valid? [True, True] Translation: X:35.99, Y:1.07, Z:0.21 [[ 9.97070731e-01 -7.55401106e-02 -1.19853569e-02 3.59864325e+01] [ 7.55352687e-02 9.97142763e-01 -8.56793552e-04 1.07475508e+00] [ 1.20158341e-02 -5.10333788e-05 9.99927806e-01 2.09197009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.700281692999994 meters Centerline goodness : 0.997296 with order 1 Centerline is valid? [True, True] Translation: X:36.04, Y:1.08, Z:0.20 [[ 9.96686581e-01 -8.04500753e-02 -1.19851936e-02 3.60443913e+01] [ 8.04455608e-02 9.96758634e-01 -8.59071517e-04 1.07739276e+00] [ 1.20154576e-02 -1.07930568e-04 9.99927806e-01 2.04821478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.760281692999996 meters Centerline goodness : 0.998029 with order 1 Centerline is valid? [True, True] Translation: X:36.10, Y:1.08, Z:0.21 [[ 9.96899048e-01 -7.77730367e-02 -1.19851432e-02 3.61032989e+01] [ 7.77683203e-02 9.96971087e-01 -8.59773345e-04 1.08197558e+00] [ 1.20157085e-02 -7.49572310e-05 9.99927806e-01 2.08396650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.820281693 meters Centerline goodness : 0.997692 with order 1 Centerline is valid? [True, True] Translation: X:36.16, Y:1.08, Z:0.21 [[ 9.97251337e-01 -7.31172338e-02 -1.19850025e-02 3.61612691e+01] [ 7.31121576e-02 9.97323353e-01 -8.61731120e-04 1.08444418e+00] [ 1.20159303e-02 -1.68868781e-05 9.99927806e-01 2.12026627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88028169299999 meters Centerline goodness : 0.997545 with order 1 Centerline is valid? [True, True] Translation: X:36.22, Y:1.09, Z:0.21 [[ 9.97372599e-01 -7.14441017e-02 -1.19849275e-02 3.62189450e+01] [ 7.14388921e-02 9.97444605e-01 -8.62772949e-04 1.08863412e+00] [ 1.20159413e-02 4.31615709e-06 9.99927806e-01 2.12749103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.940281692999996 meters Centerline goodness : 0.997445 with order 1 Centerline is valid? [True, True] Translation: X:36.28, Y:1.09, Z:0.22 [[ 9.97540396e-01 -6.90617327e-02 -1.19847713e-02 3.62767670e+01] [ 6.90563251e-02 9.97612388e-01 -8.64937772e-04 1.09361848e+00] [ 1.20158904e-02 3.51861079e-05 9.99927806e-01 2.17645973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.000281693 meters Centerline goodness : 0.997881 with order 1 Centerline is valid? [True, True] Translation: X:36.33, Y:1.10, Z:0.21 [[ 9.97794788e-01 -6.52834522e-02 -1.19846148e-02 3.63344264e+01] [ 6.52777461e-02 9.97866757e-01 -8.67100701e-04 1.10152441e+00] [ 1.20156560e-02 8.28599215e-05 9.99927806e-01 2.12195949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06028169299999 meters Centerline goodness : 0.997493 with order 1 Centerline is valid? [True, True] Translation: X:36.39, Y:1.11, Z:0.21 [[ 9.98033402e-01 -6.15280286e-02 -1.19845663e-02 3.63912909e+01] [ 6.15220437e-02 9.98105348e-01 -8.67769975e-04 1.11235421e+00] [ 1.20152519e-02 1.28748409e-04 9.99927806e-01 2.13628571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.120281692999995 meters Centerline goodness : 0.997505 with order 1 Centerline is valid? [True, True] Translation: X:36.45, Y:1.12, Z:0.21 [[ 9.98098321e-01 -6.04658200e-02 -1.19844006e-02 3.64482240e+01] [ 6.04597311e-02 9.98170258e-01 -8.70052864e-04 1.12094605e+00] [ 1.20150807e-02 1.43824667e-04 9.99927806e-01 2.12934332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.180281693 meters Centerline goodness : 0.997335 with order 1 Centerline is valid? [True, True] Translation: X:36.51, Y:1.13, Z:0.21 [[ 9.97970477e-01 -6.25404137e-02 -1.19843286e-02 3.65056554e+01] [ 6.25344625e-02 9.98042425e-01 -8.71042464e-04 1.13028040e+00] [ 1.20153438e-02 1.19841114e-04 9.99927806e-01 2.11869751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24028169299999 meters Centerline goodness : 0.997586 with order 1 Centerline is valid? [True, True] Translation: X:36.56, Y:1.14, Z:0.21 [[ 9.97882506e-01 -6.39287386e-02 -1.19841639e-02 3.65637938e+01] [ 6.39228602e-02 9.97954461e-01 -8.73303816e-04 1.14050083e+00] [ 1.20154790e-02 1.05392569e-04 9.99927806e-01 2.12112413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.300281692999995 meters Centerline goodness : 0.997758 with order 1 Centerline is valid? [True, True] Translation: X:36.62, Y:1.15, Z:0.21 [[ 9.97885786e-01 -6.38775562e-02 -1.19840186e-02 3.66212468e+01] [ 6.38716503e-02 9.97957738e-01 -8.75292446e-04 1.14918243e+00] [ 1.20154556e-02 1.08002845e-04 9.99927806e-01 2.09971608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.360281693 meters Centerline goodness : 0.997658 with order 1 Centerline is valid? [True, True] Translation: X:36.68, Y:1.16, Z:0.22 [[ 9.97930216e-01 -6.31796605e-02 -1.19839676e-02 3.66794251e+01] [ 6.31736959e-02 9.98002163e-01 -8.75990842e-04 1.15785526e+00] [ 1.20153703e-02 1.17106208e-04 9.99927806e-01 2.22139520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.420281693 meters Centerline goodness : 0.998121 with order 1 Centerline is valid? [True, True] Translation: X:36.74, Y:1.17, Z:0.23 [[ 9.97603409e-01 -6.81456331e-02 -1.19838232e-02 3.67366147e+01] [ 6.81400030e-02 9.97675383e-01 -8.77961301e-04 1.16725413e+00] [ 1.20157946e-02 5.92794384e-05 9.99927806e-01 2.27349071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.480281692999995 meters Centerline goodness : 0.997820 with order 1 Centerline is valid? [True, True] Translation: X:36.79, Y:1.17, Z:0.23 [[ 9.97259710e-01 -7.30031569e-02 -1.19837723e-02 3.67942196e+01] [ 7.29978690e-02 9.97331710e-01 -8.78654792e-04 1.17289544e+00] [ 1.20159407e-02 1.45717777e-06 9.99927806e-01 2.26178284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.540281693 meters Centerline goodness : 0.997805 with order 1 Centerline is valid? [True, True] Translation: X:36.85, Y:1.18, Z:0.22 [[ 9.97077806e-01 -7.54469515e-02 -1.19836083e-02 3.68509400e+01] [ 7.54418133e-02 9.97149817e-01 -8.80886778e-04 1.17989266e+00] [ 1.20159130e-02 -2.57524821e-05 9.99927806e-01 2.24675360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.600281693 meters Centerline goodness : 0.997987 with order 1 Centerline is valid? [True, True] Translation: X:36.91, Y:1.19, Z:0.22 [[ 9.96943018e-01 -7.72076014e-02 -1.19835374e-02 3.69087248e+01] [ 7.72025788e-02 9.97015037e-01 -8.81849421e-04 1.18505341e+00] [ 1.20158525e-02 -4.60063698e-05 9.99927806e-01 2.23372635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.660281692999995 meters Centerline goodness : 0.997954 with order 1 Centerline is valid? [True, True] Translation: X:36.97, Y:1.19, Z:0.22 [[ 9.96962035e-01 -7.69616803e-02 -1.19833672e-02 3.69653318e+01] [ 7.69566122e-02 9.97034051e-01 -8.84156348e-04 1.18870709e+00] [ 1.20158713e-02 -4.07290334e-05 9.99927806e-01 2.23934375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.720281693 meters Centerline goodness : 0.997897 with order 1 Centerline is valid? [True, True] Translation: X:37.02, Y:1.19, Z:0.23 [[ 9.96922199e-01 -7.74759963e-02 -1.19832524e-02 3.70245663e+01] [ 7.74709467e-02 9.96994217e-01 -8.85709322e-04 1.18973852e+00] [ 1.20158546e-02 -4.53706270e-05 9.99927806e-01 2.30149436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.780281693 meters Centerline goodness : 0.997943 with order 1 Centerline is valid? [True, True] Translation: X:37.08, Y:1.19, Z:0.23 [[ 9.97048141e-01 -7.58380527e-02 -1.19831107e-02 3.70829222e+01] [ 7.58328618e-02 9.97120148e-01 -8.87623002e-04 1.19239588e+00] [ 1.20159167e-02 -2.37107129e-05 9.99927806e-01 2.25301514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.840281692999994 meters Centerline goodness : 0.997971 with order 1 Centerline is valid? [True, True] Translation: X:37.14, Y:1.19, Z:0.23 [[ 9.97239818e-01 -7.32745129e-02 -1.19829496e-02 3.71399269e+01] [ 7.32691108e-02 9.97311810e-01 -8.89792612e-04 1.19414459e+00] [ 1.20159363e-02 9.35656164e-06 9.99927806e-01 2.26223887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.900281693 meters Centerline goodness : 0.998277 with order 1 Centerline is valid? [True, True] Translation: X:37.20, Y:1.20, Z:0.23 [[ 9.97525652e-01 -6.92747051e-02 -1.19828797e-02 3.71974564e+01] [ 6.92690030e-02 9.97597620e-01 -8.90733441e-04 1.19694806e+00] [ 1.20157975e-02 5.84873297e-05 9.99927806e-01 2.29357543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.960281693 meters Centerline goodness : 0.997960 with order 1 Centerline is valid? [True, True] Translation: X:37.25, Y:1.20, Z:0.23 [[ 9.98034315e-01 -6.15135802e-02 -1.19827140e-02 3.72546818e+01] [ 6.15072918e-02 9.98106235e-01 -8.92956465e-04 1.20148398e+00] [ 1.20149505e-02 1.54176908e-04 9.99927806e-01 2.25529406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.020281692999994 meters Centerline goodness : 0.998024 with order 1 Centerline is valid? [True, True] Translation: X:37.31, Y:1.21, Z:0.23 [[ 9.98322589e-01 -5.66429510e-02 -1.19826625e-02 3.73108485e+01] [ 5.66363035e-02 9.98394476e-01 -8.93646419e-04 1.21233792e+00] [ 1.20140429e-02 2.13493694e-04 9.99927806e-01 2.25920326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.080281692999996 meters Centerline goodness : 0.997915 with order 1 Centerline is valid? [True, True] Translation: X:37.37, Y:1.22, Z:0.23 [[ 9.98362794e-01 -5.59298536e-02 -1.19825914e-02 3.73685293e+01] [ 5.59231433e-02 9.98434676e-01 -8.94599792e-04 1.22124629e+00] [ 1.20138696e-02 2.23030975e-04 9.99927806e-01 2.27387238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.140281693 meters Centerline goodness : 0.998243 with order 1 Centerline is valid? [True, True] Translation: X:37.43, Y:1.24, Z:0.23 [[ 9.98099673e-01 -6.04438865e-02 -1.19824273e-02 3.74257297e+01] [ 6.04374750e-02 9.98171582e-01 -8.96791347e-04 1.23697092e+00] [ 1.20147240e-02 1.70899497e-04 9.99927806e-01 2.30345854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.200281692999994 meters Centerline goodness : 0.998230 with order 1 Centerline is valid? [True, True] Translation: X:37.48, Y:1.24, Z:0.23 [[ 9.97691591e-01 -6.68424409e-02 -1.19823766e-02 3.74830735e+01] [ 6.68364825e-02 9.97763539e-01 -8.97469130e-04 1.24370275e+00] [ 1.20155675e-02 9.45375029e-05 9.99927806e-01 2.28431457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.260281692999996 meters Centerline goodness : 0.998326 with order 1 Centerline is valid? [True, True] Translation: X:37.54, Y:1.25, Z:0.23 [[ 9.97235137e-01 -7.33383076e-02 -1.19822163e-02 3.75407787e+01] [ 7.33327922e-02 9.97307120e-01 -8.99603549e-04 1.25293141e+00] [ 1.20159251e-02 1.84268884e-05 9.99927806e-01 2.29897049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.320281693 meters Centerline goodness : 0.998146 with order 1 Centerline is valid? [True, True] Translation: X:37.60, Y:1.26, Z:0.23 [[ 9.97095612e-01 -7.52115137e-02 -1.19820468e-02 3.75978237e+01] [ 7.52061065e-02 9.97167603e-01 -9.01855270e-04 1.25836637e+00] [ 1.20159388e-02 -1.88715948e-06 9.99927806e-01 2.29859365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38028169299999 meters Centerline goodness : 0.998373 with order 1 Centerline is valid? [True, True] Translation: X:37.66, Y:1.26, Z:0.23 [[ 9.97032503e-01 -7.60435421e-02 -1.19819739e-02 3.76552202e+01] [ 7.60381833e-02 9.97104498e-01 -9.02823730e-04 1.26302920e+00] [ 1.20159340e-02 -1.09429225e-05 9.99927806e-01 2.31926436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.440281692999996 meters Centerline goodness : 0.998339 with order 1 Centerline is valid? [True, True] Translation: X:37.71, Y:1.27, Z:0.23 [[ 9.97046046e-01 -7.58657934e-02 -1.19818050e-02 3.77126195e+01] [ 7.58603949e-02 9.97118038e-01 -9.05059723e-04 1.26612850e+00] [ 1.20159369e-02 -6.55823897e-06 9.99927806e-01 2.31594224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.500281693 meters Centerline goodness : 0.998187 with order 1 Centerline is valid? [True, True] Translation: X:37.77, Y:1.27, Z:0.23 [[ 9.96788710e-01 -7.91751635e-02 -1.19817322e-02 3.77704613e+01] [ 7.91699924e-02 9.96860718e-01 -9.06022742e-04 1.26687178e+00] [ 1.20158526e-02 -4.54804047e-05 9.99927806e-01 2.32566201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56028169299999 meters Centerline goodness : 0.998390 with order 1 Centerline is valid? [True, True] Translation: X:37.83, Y:1.27, Z:0.24 [[ 9.96456726e-01 -8.32492396e-02 -1.19815699e-02 3.78288680e+01] [ 8.32443373e-02 9.96528753e-01 -9.08163995e-04 1.26815128e+00] [ 1.20155828e-02 -9.24517207e-05 9.99927806e-01 2.35037837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.620281692999995 meters Centerline goodness : 0.998190 with order 1 Centerline is valid? [True, True] Translation: X:37.89, Y:1.26, Z:0.23 [[ 9.96270857e-01 -8.54448718e-02 -1.19814044e-02 3.78858987e+01] [ 8.54401020e-02 9.96342893e-01 -9.10341702e-04 1.26427903e+00] [ 1.20153711e-02 -1.16745506e-04 9.99927806e-01 2.33419516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.680281693 meters Centerline goodness : 0.998523 with order 1 Centerline is valid? [True, True] Translation: X:37.95, Y:1.26, Z:0.23 [[ 9.96150520e-01 -8.68365687e-02 -1.19813327e-02 3.79454988e+01] [ 8.68318882e-02 9.96222562e-01 -9.11284894e-04 1.26074347e+00] [ 1.20152068e-02 -1.32584817e-04 9.99927806e-01 2.30730459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74028169299999 meters Centerline goodness : 0.998339 with order 1 Centerline is valid? [True, True] Translation: X:38.00, Y:1.25, Z:0.23 [[ 9.96141774e-01 -8.69368533e-02 -1.19811911e-02 3.80037039e+01] [ 8.69321576e-02 9.96213815e-01 -9.13142427e-04 1.25472010e+00] [ 1.20152138e-02 -1.31931475e-04 9.99927806e-01 2.33195377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.800281692999995 meters Centerline goodness : 0.998693 with order 1 Centerline is valid? [True, True] Translation: X:38.06, Y:1.25, Z:0.24 [[ 9.96300272e-01 -8.51012535e-02 -1.19810294e-02 3.80621128e+01] [ 8.50963997e-02 9.96372302e-01 -9.15258308e-04 1.25404392e+00] [ 1.20154555e-02 -1.07670370e-04 9.99927806e-01 2.35295475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.860281693 meters Centerline goodness : 0.998608 with order 1 Centerline is valid? [True, True] Translation: X:38.12, Y:1.25, Z:0.24 [[ 9.96530014e-01 -8.23674061e-02 -1.19808611e-02 3.81199275e+01] [ 8.23623283e-02 9.96602029e-01 -9.17456904e-04 1.25191796e+00] [ 1.20157190e-02 -7.24982731e-05 9.99927806e-01 2.35702342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.920281693 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:38.18, Y:1.25, Z:0.23 [[ 9.96938363e-01 -7.72681065e-02 -1.19807882e-02 3.81791768e+01] [ 7.72626488e-02 9.97010351e-01 -9.18407656e-04 1.25276304e+00] [ 1.20159335e-02 -1.00716063e-05 9.99927806e-01 2.34340653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.980281692999995 meters Centerline goodness : 0.998770 with order 1 Centerline is valid? [True, True] Translation: X:38.24, Y:1.26, Z:0.24 [[ 9.97363317e-01 -7.15742778e-02 -1.19806597e-02 3.82381999e+01] [ 7.15683892e-02 9.97435271e-01 -9.20080624e-04 1.25825453e+00] [ 1.20157867e-02 6.02181460e-05 9.99927806e-01 2.35692151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.040281693 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:38.30, Y:1.27, Z:0.24 [[ 9.97734989e-01 -6.61918318e-02 -1.19805207e-02 3.82953995e+01] [ 6.61855333e-02 9.97806908e-01 -9.21886859e-04 1.26577702e+00] [ 1.20152677e-02 1.26861621e-04 9.99927806e-01 2.37297314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.100281693 meters Centerline goodness : 0.998887 with order 1 Centerline is valid? [True, True] Translation: X:38.35, Y:1.27, Z:0.24 [[ 9.97610712e-01 -6.80392334e-02 -1.19803638e-02 3.83534192e+01] [ 6.80330436e-02 9.97682641e-01 -9.23921766e-04 1.27295617e+00] [ 1.20154639e-02 1.06653638e-04 9.99927806e-01 2.39814044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.160281692999995 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:38.41, Y:1.28, Z:0.24 [[ 9.97402533e-01 -7.10257854e-02 -1.19802165e-02 3.84108943e+01] [ 7.10197881e-02 9.97474477e-01 -9.25827790e-04 1.27835288e+00] [ 1.20157178e-02 7.25905443e-05 9.99927806e-01 2.40854036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.220281693 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:38.47, Y:1.28, Z:0.24 [[ 9.97260814e-01 -7.29886747e-02 -1.19800497e-02 3.84683547e+01] [ 7.29827931e-02 9.97332768e-01 -9.27981298e-04 1.28426801e+00] [ 1.20158283e-02 5.11018962e-05 9.99927806e-01 2.39997171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.280281693 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:38.53, Y:1.29, Z:0.24 [[ 9.97278881e-01 -7.27414279e-02 -1.19798734e-02 3.85254905e+01] [ 7.27355013e-02 9.97350832e-01 -9.30251315e-04 1.29057589e+00] [ 1.20158045e-02 5.63578921e-05 9.99927806e-01 2.40255756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.340281692999994 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:38.58, Y:1.30, Z:0.24 [[ 9.97602325e-01 -6.81621996e-02 -1.19797972e-02 3.85826797e+01] [ 6.81559309e-02 9.97674246e-01 -9.31231436e-04 1.29665293e+00] [ 1.20154100e-02 1.12504413e-04 9.99927806e-01 2.43968147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.400281693 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:38.64, Y:1.30, Z:0.25 [[ 9.97906291e-01 -6.35572484e-02 -1.19796188e-02 3.86404922e+01] [ 6.35506203e-02 9.97978180e-01 -9.33521190e-04 1.30224102e+00] [ 1.20147302e-02 1.70254461e-04 9.99927806e-01 2.46405885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.460281693 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:38.70, Y:1.31, Z:0.24 [[ 9.98371473e-01 -5.57753664e-02 -1.19795636e-02 3.86983376e+01] [ 5.57681696e-02 9.98443308e-01 -9.34228780e-04 1.31074565e+00] [ 1.20130221e-02 2.64629027e-04 9.99927806e-01 2.44921339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.520281692999994 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:38.76, Y:1.32, Z:0.24 [[ 9.98573278e-01 -5.20375174e-02 -1.19793882e-02 3.87558026e+01] [ 5.20300248e-02 9.98645082e-01 -9.36472686e-04 1.31804372e+00] [ 1.20118888e-02 3.11848734e-04 9.99927806e-01 2.44356438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.580281692999996 meters Centerline goodness : 0.999044 with order 1 Centerline is valid? [True, True] Translation: X:38.81, Y:1.33, Z:0.25 [[ 9.99118650e-01 -4.02296022e-02 -1.19792124e-02 3.88119287e+01] [ 4.02212345e-02 9.99190358e-01 -9.38716191e-04 1.33015652e+00] [ 1.20072777e-02 4.56070142e-04 9.99927806e-01 2.46863231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.640281693 meters Centerline goodness : 0.999190 with order 1 Centerline is valid? [True, True] Translation: X:38.87, Y:1.34, Z:0.25 [[ 9.99278484e-01 -3.60418346e-02 -1.19790360e-02 3.88681042e+01] [ 3.60331396e-02 9.99350153e-01 -9.40962040e-04 1.34138668e+00] [ 1.20051654e-02 5.08640845e-04 9.99927806e-01 2.48241492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.700281692999994 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:38.93, Y:1.35, Z:0.25 [[ 9.99213593e-01 -3.77981536e-02 -1.19789589e-02 3.89255726e+01] [ 3.77895728e-02 9.99285275e-01 -9.41942904e-04 1.34901388e+00] [ 1.20060009e-02 4.88522415e-04 9.99927806e-01 2.48359430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.760281692999996 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:38.98, Y:1.36, Z:0.25 [[ 9.99060386e-01 -4.16515758e-02 -1.19787892e-02 3.89819729e+01] [ 4.16432458e-02 9.99132098e-01 -9.44095846e-04 1.35863510e+00] [ 1.20077158e-02 4.44373098e-04 9.99927806e-01 2.46705145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.820281693 meters Centerline goodness : 0.999090 with order 1 Centerline is valid? [True, True] Translation: X:39.04, Y:1.37, Z:0.25 [[ 9.98955594e-01 -4.40934322e-02 -1.19787158e-02 3.90396575e+01] [ 4.40852663e-02 9.99027325e-01 -9.45025744e-04 1.36599980e+00] [ 1.20087339e-02 4.15953876e-04 9.99927806e-01 2.51014097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88028169299999 meters Centerline goodness : 0.998879 with order 1 Centerline is valid? [True, True] Translation: X:39.10, Y:1.38, Z:0.25 [[ 9.98945328e-01 -4.43254489e-02 -1.19785479e-02 3.90963626e+01] [ 4.43172743e-02 9.99017058e-01 -9.47149483e-04 1.37815447e+00] [ 1.20087565e-02 4.15293959e-04 9.99927806e-01 2.53265922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.940281692999996 meters Centerline goodness : 0.998940 with order 1 Centerline is valid? [True, True] Translation: X:39.15, Y:1.39, Z:0.26 [[ 9.98872926e-01 -4.59281576e-02 -1.19783681e-02 3.91532338e+01] [ 4.59200709e-02 9.98944666e-01 -9.49417916e-04 1.38661049e+00] [ 1.20093319e-02 3.98300340e-04 9.99927806e-01 2.55633493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.000281693 meters Centerline goodness : 0.998828 with order 1 Centerline is valid? [True, True] Translation: X:39.21, Y:1.39, Z:0.26 [[ 9.98352011e-01 -5.61229328e-02 -1.19782901e-02 3.92108960e+01] [ 5.61155670e-02 9.98423828e-01 -9.50400481e-04 1.39446769e+00] [ 1.20127496e-02 2.76665688e-04 9.99927806e-01 2.56268431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06028169299999 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:39.27, Y:1.40, Z:0.26 [[ 9.97540833e-01 -6.90565754e-02 -1.19781214e-02 3.92689204e+01] [ 6.90501155e-02 9.97612738e-01 -9.52522475e-04 1.39904701e+00] [ 1.20153044e-02 1.23089397e-04 9.99927806e-01 2.56229733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.120281692999995 meters Centerline goodness : 0.998559 with order 1 Centerline is valid? [True, True] Translation: X:39.33, Y:1.40, Z:0.26 [[ 9.96972374e-01 -7.68284785e-02 -1.19779388e-02 3.93259914e+01] [ 7.68225517e-02 9.97044324e-01 -9.54813615e-04 1.39968935e+00] [ 1.20158927e-02 3.17469762e-05 9.99927806e-01 2.55328469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.180281693 meters Centerline goodness : 0.998830 with order 1 Centerline is valid? [True, True] Translation: X:39.38, Y:1.40, Z:0.25 [[ 9.96711277e-01 -8.01446349e-02 -1.19778165e-02 3.93842622e+01] [ 8.01389291e-02 9.96783245e-01 -9.56344469e-04 1.39951033e+00] [ 1.20159327e-02 -6.69007245e-06 9.99927806e-01 2.51583398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24028169299999 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:39.44, Y:1.40, Z:0.26 [[ 9.96593975e-01 -8.15903492e-02 -1.19776417e-02 3.94419459e+01] [ 8.15847215e-02 9.96665949e-01 -9.58529424e-04 1.39959206e+00] [ 1.20159144e-02 -2.19279111e-05 9.99927806e-01 2.59738340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.300281692999995 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:39.50, Y:1.40, Z:0.26 [[ 9.96825711e-01 -7.87085708e-02 -1.19775569e-02 3.95004790e+01] [ 7.87027223e-02 9.96897668e-01 -9.59587225e-04 1.39869548e+00] [ 1.20159263e-02 1.38748804e-05 9.99927806e-01 2.57399778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.360281693 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:39.56, Y:1.41, Z:0.26 [[ 9.97123713e-01 -7.48387796e-02 -1.19773767e-02 3.95568759e+01] [ 7.48326249e-02 9.97195644e-01 -9.61832025e-04 1.40738466e+00] [ 1.20157702e-02 6.27669845e-05 9.99927806e-01 2.58794596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.420281693 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:39.61, Y:1.42, Z:0.26 [[ 9.97343290e-01 -7.18533793e-02 -1.19772522e-02 3.96142952e+01] [ 7.18469907e-02 9.97415200e-01 -9.63379038e-04 1.41588567e+00] [ 1.20155155e-02 1.00290089e-04 9.99927806e-01 2.62168956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.480281692999995 meters Centerline goodness : 0.998930 with order 1 Centerline is valid? [True, True] Translation: X:39.67, Y:1.43, Z:0.26 [[ 9.97582473e-01 -6.84526108e-02 -1.19770739e-02 3.96700688e+01] [ 6.84459505e-02 9.97654359e-01 -9.65590503e-04 1.42849872e+00] [ 1.20150772e-02 1.43473951e-04 9.99927806e-01 2.62185495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.540281693 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:39.73, Y:1.44, Z:0.26 [[ 9.97795286e-01 -6.52772467e-02 -1.19769971e-02 3.97267981e+01] [ 6.52703463e-02 9.97867149e-01 -9.66542349e-04 1.44361391e+00] [ 1.20145452e-02 1.82668649e-04 9.99927806e-01 2.57848051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.600281693 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:39.78, Y:1.46, Z:0.26 [[ 9.97900028e-01 -6.36560238e-02 -1.19768213e-02 3.97834251e+01] [ 6.36489805e-02 9.97971878e-01 -9.68715796e-04 1.45537447e+00] [ 1.20141955e-02 2.04369053e-04 9.99927806e-01 2.57976759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.660281692999995 meters Centerline goodness : 0.998977 with order 1 Centerline is valid? [True, True] Translation: X:39.84, Y:1.48, Z:0.26 [[ 9.97907608e-01 -6.35370997e-02 -1.19767452e-02 3.98408208e+01] [ 6.35300366e-02 9.97979456e-01 -9.69655895e-04 1.47521895e+00] [ 1.20141548e-02 2.06743933e-04 9.99927806e-01 2.64738140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.720281693 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:39.90, Y:1.48, Z:0.26 [[ 9.97656719e-01 -6.73619460e-02 -1.19765939e-02 3.98981342e+01] [ 6.73551359e-02 9.97728591e-01 -9.71521391e-04 1.48428629e+00] [ 1.20148337e-02 1.62559734e-04 9.99927806e-01 2.61497031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.780281693 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:39.96, Y:1.50, Z:0.26 [[ 9.97079575e-01 -7.54247113e-02 -1.19764176e-02 3.99557760e+01] [ 7.54184564e-02 9.97151497e-01 -9.73689818e-04 1.49645799e+00] [ 1.20157430e-02 6.76033007e-05 9.99927806e-01 2.61014688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.840281692999994 meters Centerline goodness : 0.999173 with order 1 Centerline is valid? [True, True] Translation: X:40.01, Y:1.51, Z:0.26 [[ 9.96759585e-01 -7.95418115e-02 -1.19762431e-02 4.00126246e+01] [ 7.95358280e-02 9.96831530e-01 -9.75831612e-04 1.50667404e+00] [ 1.20159161e-02 2.01291029e-05 9.99927806e-01 2.61718947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.900281693 meters Centerline goodness : 0.998818 with order 1 Centerline is valid? [True, True] Translation: X:40.07, Y:1.52, Z:0.26 [[ 9.96541294e-01 -8.22315279e-02 -1.19760623e-02 4.00697549e+01] [ 8.22257120e-02 9.96613253e-01 -9.78045917e-04 1.51810330e+00] [ 1.20159286e-02 -1.00771026e-05 9.99927806e-01 2.58584730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.960281693 meters Centerline goodness : 0.998782 with order 1 Centerline is valid? [True, True] Translation: X:40.13, Y:1.53, Z:0.26 [[ 9.96426400e-01 -8.36122505e-02 -1.19758806e-02 4.01274484e+01] [ 8.36065076e-02 9.96498365e-01 -9.80264626e-04 1.52540965e+00] [ 1.20159076e-02 -2.45000044e-05 9.99927806e-01 2.60099535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.020281692999994 meters Centerline goodness : 0.998748 with order 1 Centerline is valid? [True, True] Translation: X:40.18, Y:1.53, Z:0.26 [[ 9.96325991e-01 -8.48003663e-02 -1.19756950e-02 4.01843319e+01] [ 8.47946820e-02 9.96397961e-01 -9.82527709e-04 1.53055093e+00] [ 1.20158768e-02 -3.65573543e-05 9.99927806e-01 2.60731793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.080281692999996 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:40.24, Y:1.54, Z:0.27 [[ 9.96209860e-01 -8.61539375e-02 -1.19755661e-02 4.02422979e+01] [ 8.61483321e-02 9.96281836e-01 -9.84095662e-04 1.53633161e+00] [ 1.20158227e-02 -5.13092468e-05 9.99927806e-01 2.69235381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.140281693 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:40.30, Y:1.54, Z:0.27 [[ 9.96061762e-01 -8.78496055e-02 -1.19755096e-02 4.02988145e+01] [ 8.78441144e-02 9.96133747e-01 -9.84783158e-04 1.53831580e+00] [ 1.20157221e-02 -7.10731868e-05 9.99927806e-01 2.73251998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.200281692999994 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:40.36, Y:1.54, Z:0.27 [[ 9.95779917e-01 -9.09887178e-02 -1.19754313e-02 4.03567977e+01] [ 9.09834422e-02 9.95851917e-01 -9.85733994e-04 1.53832228e+00] [ 1.20154469e-02 -1.07991849e-04 9.99927806e-01 2.65358967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.260281692999996 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:40.42, Y:1.54, Z:0.27 [[ 9.95508069e-01 -9.39163354e-02 -1.19752474e-02 4.04150523e+01] [ 9.39112447e-02 9.95580083e-01 -9.87963533e-04 1.53624170e+00] [ 1.20151037e-02 -1.41084719e-04 9.99927806e-01 2.69365373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.320281693 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:40.47, Y:1.53, Z:0.27 [[ 9.95438033e-01 -9.46557784e-02 -1.19751904e-02 4.04725836e+01] [ 9.46507329e-02 9.95510051e-01 -9.88654039e-04 1.53457785e+00] [ 1.20150042e-02 -1.49316714e-04 9.99927806e-01 2.68175893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38028169299999 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:40.53, Y:1.53, Z:0.27 [[ 9.96162106e-01 -8.67044161e-02 -1.19751117e-02 4.05309925e+01] [ 8.66987843e-02 9.96234080e-01 -9.89606500e-04 1.53211229e+00] [ 1.20158176e-02 -5.24191282e-05 9.99927806e-01 2.66486263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.440281692999996 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:40.59, Y:1.54, Z:0.27 [[ 9.96423824e-01 -8.36430764e-02 -1.19749342e-02 4.05883598e+01] [ 8.36371977e-02 9.96495778e-01 -9.91749218e-04 1.53608029e+00] [ 1.20159243e-02 -1.33473917e-05 9.99927806e-01 2.68754100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.500281693 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:40.65, Y:1.54, Z:0.27 [[ 9.97277652e-01 -7.27591300e-02 -1.19747565e-02 4.06457909e+01] [ 7.27524404e-02 9.97349535e-01 -9.93890411e-04 1.54101188e+00] [ 1.20153324e-02 1.19991937e-04 9.99927806e-01 2.69028929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56028169299999 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:40.70, Y:1.55, Z:0.27 [[ 9.97764383e-01 -6.57483461e-02 -1.19745794e-02 4.07036896e+01] [ 6.57411259e-02 9.97836215e-01 -9.96019515e-04 1.54597915e+00] [ 1.20141556e-02 2.06570466e-04 9.99927806e-01 2.67657483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.620281692999995 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:40.76, Y:1.55, Z:0.27 [[ 9.98045742e-01 -6.13295308e-02 -1.19743989e-02 4.07606911e+01] [ 6.13219666e-02 9.98117538e-01 -9.98184675e-04 1.55442083e+00] [ 1.20130758e-02 2.61940274e-04 9.99927806e-01 2.70317579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.680281693 meters Centerline goodness : 0.999406 with order 1 Centerline is valid? [True, True] Translation: X:40.82, Y:1.56, Z:0.27 [[ 9.98044684e-01 -6.13467526e-02 -1.19743429e-02 4.08177340e+01] [ 6.13391816e-02 9.98116480e-01 -9.98855845e-04 1.56024807e+00] [ 1.20130656e-02 2.62406371e-04 9.99927806e-01 2.67439851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74028169299999 meters Centerline goodness : 0.999174 with order 1 Centerline is valid? [True, True] Translation: X:40.87, Y:1.57, Z:0.27 [[ 9.97948517e-01 -6.28917734e-02 -1.19742667e-02 4.08747868e+01] [ 6.28843026e-02 9.98020323e-01 -9.99769149e-04 1.57099197e+00] [ 1.20134387e-02 2.44724731e-04 9.99927806e-01 2.73259760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.800281692999995 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:40.93, Y:1.58, Z:0.27 [[ 9.97797317e-01 -6.52467035e-02 -1.19742126e-02 4.09324913e+01] [ 6.52393944e-02 9.97869140e-01 -1.00041594e-03 1.57843133e+00] [ 1.20139711e-02 2.17021960e-04 9.99927806e-01 2.72877810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.860281693 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:40.99, Y:1.59, Z:0.27 [[ 9.97436749e-01 -7.05447044e-02 -1.19740310e-02 4.09895634e+01] [ 7.05377508e-02 9.97508607e-01 -1.00258581e-03 1.58560027e+00] [ 1.20149261e-02 1.55394720e-04 9.99927806e-01 2.67432595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.920281693 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:41.05, Y:1.59, Z:0.27 [[ 9.97078445e-01 -7.54400337e-02 -1.19739500e-02 4.10466947e+01] [ 7.54334214e-02 9.97150336e-01 -1.00355188e-03 1.58816912e+00] [ 1.20155362e-02 9.73839288e-05 9.99927806e-01 2.67601902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.980281692999995 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:41.10, Y:1.59, Z:0.27 [[ 9.96777108e-01 -7.93222815e-02 -1.19738274e-02 4.11043854e+01] [ 7.93159315e-02 9.96849022e-01 -1.00501267e-03 1.59254245e+00] [ 1.20158180e-02 5.20583512e-05 9.99927806e-01 2.73652081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.040281693 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:41.16, Y:1.60, Z:0.28 [[ 9.96727011e-01 -7.99493415e-02 -1.19736513e-02 4.11616950e+01] [ 7.99430117e-02 9.96798927e-01 -1.00710575e-03 1.59922719e+00] [ 1.20158402e-02 4.65997523e-05 9.99927806e-01 2.76630417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.100281693 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:41.22, Y:1.61, Z:0.28 [[ 9.96667319e-01 -8.06900940e-02 -1.19734657e-02 4.12196396e+01] [ 8.06837912e-02 9.96739237e-01 -1.00930791e-03 1.60612559e+00] [ 1.20158642e-02 3.98795987e-05 9.99927806e-01 2.78162066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.160281692999995 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:41.28, Y:1.61, Z:0.27 [[ 9.96481499e-01 -8.29533784e-02 -1.19732713e-02 4.12760785e+01] [ 8.29472113e-02 9.96553429e-01 -1.01160905e-03 1.61251690e+00] [ 1.20159209e-02 1.49002367e-05 9.99927806e-01 2.74196024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.220281693 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:41.33, Y:1.62, Z:0.27 [[ 9.96228341e-01 -8.59403025e-02 -1.19731873e-02 4.13328965e+01] [ 8.59343390e-02 9.96300288e-01 -1.01260248e-03 1.62063236e+00] [ 1.20159133e-02 -2.01246445e-05 9.99927806e-01 2.74511544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.280281693 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:41.39, Y:1.63, Z:0.27 [[ 9.95958274e-01 -8.90155110e-02 -1.19731058e-02 4.13897785e+01] [ 8.90097581e-02 9.96030238e-01 -1.01356513e-03 1.63317422e+00] [ 1.20157984e-02 -5.62546721e-05 9.99927806e-01 2.74088036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.340281692999994 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:41.45, Y:1.65, Z:0.27 [[ 9.95724585e-01 -9.15925729e-02 -1.19729120e-02 4.14456458e+01] [ 9.15869789e-02 9.95796562e-01 -1.01584905e-03 1.64593215e+00] [ 1.20156288e-02 -8.50569639e-05 9.99927806e-01 2.74606926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.400281693 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:41.50, Y:1.65, Z:0.28 [[ 9.95191647e-01 -9.72123254e-02 -1.19728283e-02 4.15040808e+01] [ 9.72071259e-02 9.95263654e-01 -1.01683415e-03 1.65428716e+00] [ 1.20149697e-02 -1.51899378e-04 9.99927806e-01 2.81115175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.460281693 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:41.56, Y:1.66, Z:0.28 [[ 9.94613058e-01 -1.02963681e-01 -1.19726607e-02 4.15607231e+01] [ 1.02958875e-01 9.94685092e-01 -1.01880454e-03 1.65715919e+00] [ 1.20139269e-02 -2.19375366e-04 9.99927806e-01 2.81560044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.520281692999994 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:41.62, Y:1.66, Z:0.28 [[ 9.93957812e-01 -1.09107861e-01 -1.19725777e-02 4.16193225e+01] [ 1.09103488e-01 9.94029873e-01 -1.01977799e-03 1.65683425e+00] [ 1.20123657e-02 -2.92633695e-04 9.99927806e-01 2.77247531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.580281692999996 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:41.68, Y:1.66, Z:0.28 [[ 9.93869138e-01 -1.09912688e-01 -1.19723895e-02 4.16770825e+01] [ 1.09908346e-01 9.93941201e-01 -1.02198311e-03 1.65532395e+00] [ 1.20121801e-02 -3.00148058e-04 9.99927806e-01 2.78279966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.640281693 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:41.73, Y:1.66, Z:0.28 [[ 9.93910712e-01 -1.09536113e-01 -1.19723084e-02 4.17349550e+01] [ 1.09531733e-01 9.93982773e-01 -1.02293212e-03 1.65614689e+00] [ 1.20123163e-02 -2.94644500e-04 9.99927806e-01 2.82381497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.700281692999994 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:41.79, Y:1.66, Z:0.28 [[ 9.93905005e-01 -1.09587906e-01 -1.19721161e-02 4.17924766e+01] [ 1.09583502e-01 9.93977065e-01 -1.02517831e-03 1.65695535e+00] [ 1.20123559e-02 -2.93016555e-04 9.99927806e-01 2.78753729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.760281692999996 meters Centerline goodness : 0.998725 with order 1 Centerline is valid? [True, True] Translation: X:41.85, Y:1.66, Z:0.28 [[ 9.93849620e-01 -1.10089070e-01 -1.19720326e-02 4.18495866e+01] [ 1.10084691e-01 9.93921681e-01 -1.02615258e-03 1.65934284e+00] [ 1.20122309e-02 -2.98096160e-04 9.99927806e-01 2.77002867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.820281693 meters Centerline goodness : 0.998810 with order 1 Centerline is valid? [True, True] Translation: X:41.91, Y:1.66, Z:0.29 [[ 9.94317275e-01 -1.05781984e-01 -1.19719521e-02 4.19071033e+01] [ 1.05777281e-01 9.94389316e-01 -1.02709100e-03 1.66427945e+00] [ 1.20134289e-02 -2.45106220e-04 9.99927806e-01 2.87243307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88028169299999 meters Centerline goodness : 0.998575 with order 1 Centerline is valid? [True, True] Translation: X:41.96, Y:1.67, Z:0.28 [[ 9.94777584e-01 -1.01361899e-01 -1.19717690e-02 4.19647537e+01] [ 1.01356851e-01 9.94849601e-01 -1.02921993e-03 1.66935218e+00] [ 1.20144333e-02 -1.89575887e-04 9.99927806e-01 2.84210629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.940281692999996 meters Centerline goodness : 0.998900 with order 1 Centerline is valid? [True, True] Translation: X:42.02, Y:1.67, Z:0.28 [[ 9.94777150e-01 -1.01366180e-01 -1.19715796e-02 4.20211017e+01] [ 1.01361106e-01 9.94849166e-01 -1.03141911e-03 1.67375686e+00] [ 1.20144670e-02 -1.87420385e-04 9.99927806e-01 2.81929994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.000281693 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:42.08, Y:1.68, Z:0.29 [[ 9.94492253e-01 -1.04124170e-01 -1.19714974e-02 4.20785845e+01] [ 1.04119284e-01 9.94564281e-01 -1.03237217e-03 1.67860276e+00] [ 1.20139186e-02 -2.19777609e-04 9.99927806e-01 2.89794569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06028169299999 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:42.14, Y:1.68, Z:0.29 [[ 9.94154587e-01 -1.07300258e-01 -1.19713111e-02 4.21369105e+01] [ 1.07295576e-01 9.94226629e-01 -1.03452747e-03 1.68135881e+00] [ 1.20132014e-02 -2.55988499e-04 9.99927806e-01 2.87396909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.120281692999995 meters Centerline goodness : 0.998934 with order 1 Centerline is valid? [True, True] Translation: X:42.19, Y:1.69, Z:0.28 [[ 9.94067242e-01 -1.08106476e-01 -1.19711204e-02 4.21949649e+01] [ 1.08101826e-01 9.94139286e-01 -1.03672971e-03 1.68600725e+00] [ 1.20130383e-02 -2.63520930e-04 9.99927806e-01 2.84664565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.180281693 meters Centerline goodness : 0.998982 with order 1 Centerline is valid? [True, True] Translation: X:42.25, Y:1.69, Z:0.28 [[ 9.94144800e-01 -1.07390940e-01 -1.19709300e-02 4.22517706e+01] [ 1.07386212e-01 9.94216839e-01 -1.03892370e-03 1.68755816e+00] [ 1.20132712e-02 -2.52672235e-04 9.99927806e-01 2.84242074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24028169299999 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:42.31, Y:1.69, Z:0.28 [[ 9.94376852e-01 -1.05220605e-01 -1.19708474e-02 4.23092376e+01] [ 1.05215708e-01 9.94448879e-01 -1.03987391e-03 1.68921797e+00] [ 1.20138120e-02 -2.25494645e-04 9.99927806e-01 2.82556756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.300281692999995 meters Centerline goodness : 0.998662 with order 1 Centerline is valid? [True, True] Translation: X:42.37, Y:1.69, Z:0.28 [[ 9.94452283e-01 -1.04505306e-01 -1.19707215e-02 4.23672600e+01] [ 1.04500340e-01 9.94524306e-01 -1.04132206e-03 1.68845833e+00] [ 1.20139971e-02 -2.15399365e-04 9.99927806e-01 2.81053954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.360281693 meters Centerline goodness : 0.998940 with order 1 Centerline is valid? [True, True] Translation: X:42.43, Y:1.69, Z:0.28 [[ 9.94514491e-01 -1.03911661e-01 -1.19705280e-02 4.24253044e+01] [ 1.03906626e-01 9.94586509e-01 -1.04354174e-03 1.69173583e+00] [ 1.20141618e-02 -2.05999783e-04 9.99927806e-01 2.83722837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.420281693 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:42.48, Y:1.69, Z:0.29 [[ 9.94803852e-01 -1.01103945e-01 -1.19703350e-02 4.24831530e+01] [ 1.01098679e-01 9.94875853e-01 -1.04575109e-03 1.69350908e+00] [ 1.20147268e-02 -1.69867845e-04 9.99927806e-01 2.88492527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.480281692999995 meters Centerline goodness : 0.998844 with order 1 Centerline is valid? [True, True] Translation: X:42.54, Y:1.69, Z:0.29 [[ 9.94717907e-01 -1.01946054e-01 -1.19702755e-02 4.25412622e+01] [ 1.01940841e-01 9.94789912e-01 -1.04643153e-03 1.69329897e+00] [ 1.20145889e-02 -1.79355765e-04 9.99927806e-01 2.93265997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.540281693 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:42.60, Y:1.70, Z:0.29 [[ 9.94542241e-01 -1.03645782e-01 -1.19700786e-02 4.25985123e+01] [ 1.03640665e-01 9.94614253e-01 -1.04867899e-03 1.69582947e+00] [ 1.20143019e-02 -1.97631348e-04 9.99927806e-01 2.94929474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.600281693 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:42.66, Y:1.70, Z:0.29 [[ 9.94531220e-01 -1.03751501e-01 -1.19699440e-02 4.26562670e+01] [ 1.03746373e-01 9.94603231e-01 -1.05021256e-03 1.69909804e+00] [ 1.20143061e-02 -1.97369103e-04 9.99927806e-01 2.89532503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.660281692999995 meters Centerline goodness : 0.999169 with order 1 Centerline is valid? [True, True] Translation: X:42.71, Y:1.71, Z:0.29 [[ 9.94271732e-01 -1.06209457e-01 -1.19697469e-02 4.27135199e+01] [ 1.06204480e-01 9.94343754e-01 -1.05245429e-03 1.70657416e+00] [ 1.20138237e-02 -2.24815202e-04 9.99927806e-01 2.91294904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.720281693 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:42.77, Y:1.71, Z:0.29 [[ 9.93509849e-01 -1.13114585e-01 -1.19695492e-02 4.27703691e+01] [ 1.13110082e-01 9.93581902e-01 -1.05469873e-03 1.70693159e+00] [ 1.20120292e-02 -3.06023116e-04 9.99927806e-01 2.91872447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.780281693 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:42.83, Y:1.71, Z:0.29 [[ 9.92909556e-01 -1.18268107e-01 -1.19694637e-02 4.28283699e+01] [ 1.18263966e-01 9.92981631e-01 -1.05566729e-03 1.71010986e+00] [ 1.20103094e-02 -3.67374112e-04 9.99927806e-01 2.91300477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.840281692999994 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:42.89, Y:1.71, Z:0.29 [[ 9.92853372e-01 -1.18738863e-01 -1.19692687e-02 4.28863335e+01] [ 1.18734730e-01 9.92925448e-01 -1.05787343e-03 1.71303420e+00] [ 1.20102022e-02 -3.70854693e-04 9.99927806e-01 2.92860452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.900281693 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:42.94, Y:1.72, Z:0.29 [[ 9.93276848e-01 -1.15142712e-01 -1.19690745e-02 4.29432397e+01] [ 1.15138291e-01 9.93348907e-01 -1.06006707e-03 1.72008165e+00] [ 1.20115260e-02 -3.25158702e-04 9.99927806e-01 2.93017357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.960281693 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:43.00, Y:1.72, Z:0.30 [[ 9.93831778e-01 -1.10250363e-01 -1.19689412e-02 4.30012561e+01] [ 1.10245569e-01 9.93903812e-01 -1.06157011e-03 1.72314888e+00] [ 1.20130147e-02 -2.64500614e-04 9.99927806e-01 2.97848949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.020281692999994 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:43.06, Y:1.73, Z:0.29 [[ 9.94159176e-01 -1.07258020e-01 -1.19687460e-02 4.30591061e+01] [ 1.07252983e-01 9.94231193e-01 -1.06376562e-03 1.72870854e+00] [ 1.20137980e-02 -2.26131358e-04 9.99927806e-01 2.94438362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.080281692999996 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:43.12, Y:1.74, Z:0.30 [[ 9.94819673e-01 -1.00948365e-01 -1.19685454e-02 4.31170233e+01] [ 1.00942844e-01 9.94891655e-01 -1.06601831e-03 1.73611930e+00] [ 1.20150187e-02 -1.47643025e-04 9.99927806e-01 2.95280215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.140281693 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:43.17, Y:1.74, Z:0.30 [[ 9.95460454e-01 -9.44205709e-02 -1.19683443e-02 4.31736198e+01] [ 9.44145510e-02 9.95532396e-01 -1.06827059e-03 1.74351944e+00] [ 1.20157412e-02 -6.65647325e-05 9.99927806e-01 2.98913346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.200281692999994 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:43.23, Y:1.75, Z:0.30 [[ 9.95847351e-01 -9.02486279e-02 -1.19682569e-02 4.32303463e+01] [ 9.02422949e-02 9.95919266e-01 -1.06924883e-03 1.74976725e+00] [ 1.20159159e-02 -1.52343600e-05 9.99927806e-01 3.01374414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.260281692999996 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:43.29, Y:1.75, Z:0.31 [[ 9.95848069e-01 -9.02407174e-02 -1.19681201e-02 4.32881647e+01] [ 9.02343654e-02 9.95919983e-01 -1.07077844e-03 1.75411797e+00] [ 1.20159178e-02 -1.36030767e-05 9.99927806e-01 3.05420527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.320281693 meters Centerline goodness : 0.998802 with order 1 Centerline is valid? [True, True] Translation: X:43.35, Y:1.76, Z:0.30 [[ 9.95845897e-01 -9.02647101e-02 -1.19679236e-02 4.33463543e+01] [ 9.02583334e-02 9.95917809e-01 -1.07297047e-03 1.75849612e+00] [ 1.20159196e-02 -1.16915952e-05 9.99927806e-01 2.97927666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38028169299999 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:43.40, Y:1.77, Z:0.30 [[ 9.95982607e-01 -8.87435663e-02 -1.19677278e-02 4.34041722e+01] [ 8.87370536e-02 9.96054506e-01 -1.07514982e-03 1.76529738e+00] [ 1.20159218e-02 8.84961926e-06 9.99927806e-01 2.98456392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.440281692999996 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:43.46, Y:1.77, Z:0.30 [[ 9.96099435e-01 -8.74225003e-02 -1.19675308e-02 4.34622295e+01] [ 8.74158661e-02 9.96171323e-01 -1.07733744e-03 1.76949848e+00] [ 1.20158946e-02 2.69831434e-05 9.99927806e-01 2.98756292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.500281693 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:43.52, Y:1.77, Z:0.30 [[ 9.95997264e-01 -8.85789652e-02 -1.19673255e-02 4.35201176e+01] [ 8.85723870e-02 9.96069158e-01 -1.07961370e-03 1.77364116e+00] [ 1.20159149e-02 1.53177026e-05 9.99927806e-01 2.98100073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56028169299999 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:43.58, Y:1.78, Z:0.30 [[ 9.95922149e-01 -8.94195840e-02 -1.19671205e-02 4.35776624e+01] [ 8.94130393e-02 9.95994045e-01 -1.08188167e-03 1.77806809e+00] [ 1.20159221e-02 7.45330900e-06 9.99927806e-01 3.02725202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.620281692999995 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:43.63, Y:1.78, Z:0.30 [[ 9.95493974e-01 -9.40666809e-02 -1.19669153e-02 4.36342208e+01] [ 9.40604445e-02 9.95565898e-01 -1.08414681e-03 1.78172454e+00] [ 1.20158348e-02 -4.63517517e-05 9.99927806e-01 3.03756717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.680281693 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:43.69, Y:1.78, Z:0.30 [[ 9.94305058e-01 -1.05897344e-01 -1.19667759e-02 4.36910301e+01] [ 1.05891945e-01 9.94377050e-01 -1.08568259e-03 1.78199726e+00] [ 1.20144582e-02 -1.87685484e-04 9.99927806e-01 3.01684318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74028169299999 meters Centerline goodness : 0.999085 with order 1 Centerline is valid? [True, True] Translation: X:43.75, Y:1.78, Z:0.30 [[ 9.93547769e-01 -1.12781341e-01 -1.19666369e-02 4.37484376e+01] [ 1.12776423e-01 9.93619795e-01 -1.08721325e-03 1.77811112e+00] [ 1.20129046e-02 -2.69356191e-04 9.99927806e-01 3.03445160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.800281692999995 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:43.81, Y:1.77, Z:0.31 [[ 9.93747262e-01 -1.11009827e-01 -1.19664997e-02 4.38066078e+01] [ 1.11004762e-01 9.93819278e-01 -1.08872075e-03 1.77444595e+00] [ 1.20133968e-02 -2.46425185e-04 9.99927806e-01 3.12243181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.860281693 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:43.87, Y:1.77, Z:0.31 [[ 9.94044294e-01 -1.08317799e-01 -1.19664392e-02 4.38652850e+01] [ 1.08312531e-01 9.94116295e-01 -1.08938522e-03 1.76848309e+00] [ 1.20140320e-02 -2.13218154e-04 9.99927806e-01 3.08639391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.920281693 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:43.92, Y:1.77, Z:0.30 [[ 9.94290871e-01 -1.06030523e-01 -1.19662468e-02 4.39232758e+01] [ 1.06025064e-01 9.94362859e-01 -1.09149461e-03 1.76729603e+00] [ 1.20145231e-02 -1.83458959e-04 9.99927806e-01 3.04244662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.980281692999995 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:43.98, Y:1.76, Z:0.31 [[ 9.94594031e-01 -1.03148081e-01 -1.19660546e-02 4.39819521e+01] [ 1.03142388e-01 9.94666000e-01 -1.09359753e-03 1.76000978e+00] [ 1.20150302e-02 -1.46521870e-04 9.99927806e-01 3.05338603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.040281693 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:44.04, Y:1.76, Z:0.31 [[ 9.95220978e-01 -9.69124489e-02 -1.19658622e-02 4.40391755e+01] [ 9.69062794e-02 9.95292908e-01 -1.09569833e-03 1.75836535e+00] [ 1.20157246e-02 -6.91052240e-05 9.99927806e-01 3.05872061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.100281693 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:44.10, Y:1.76, Z:0.31 [[ 9.96517800e-01 -8.25172367e-02 -1.19657789e-02 4.40964133e+01] [ 8.25100172e-02 9.96589632e-01 -1.09660744e-03 1.76369617e+00] [ 1.20154602e-02 1.05492207e-04 9.99927806e-01 3.09740276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.160281692999995 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:44.15, Y:1.77, Z:0.31 [[ 9.97322808e-01 -7.21390359e-02 -1.19655901e-02 4.41538548e+01] [ 7.21310443e-02 9.97394559e-01 -1.09866445e-03 1.77232959e+00] [ 1.20136710e-02 2.32632609e-04 9.99927806e-01 3.14213931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.220281693 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:44.21, Y:1.78, Z:0.31 [[ 9.97620352e-01 -6.79003879e-02 -1.19654007e-02 4.42112209e+01] [ 6.78920669e-02 9.97692065e-01 -1.10072236e-03 1.77969449e+00] [ 1.20125248e-02 2.85747243e-04 9.99927806e-01 3.14060836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.280281693 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:44.27, Y:1.79, Z:0.31 [[ 9.98108676e-01 -6.02984647e-02 -1.19652125e-02 4.42680258e+01] [ 6.02895731e-02 9.98180320e-01 -1.10276484e-03 1.79181905e+00] [ 1.20099347e-02 3.79301599e-04 9.99927806e-01 3.07388844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.340281692999994 meters Centerline goodness : 0.998979 with order 1 Centerline is valid? [True, True] Translation: X:44.32, Y:1.81, Z:0.31 [[ 9.98274155e-01 -5.74939082e-02 -1.19650255e-02 4.43240708e+01] [ 5.74847911e-02 9.98345771e-01 -1.10479047e-03 1.80777635e+00] [ 1.20087513e-02 4.15076783e-04 9.99927806e-01 3.09343643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.400281693 meters Centerline goodness : 0.998749 with order 1 Centerline is valid? [True, True] Translation: X:44.38, Y:1.82, Z:0.31 [[ 9.98398227e-01 -5.52975589e-02 -1.19649445e-02 4.43810377e+01] [ 5.52882738e-02 9.98469821e-01 -1.10566687e-03 1.82407446e+00] [ 1.20077767e-02 4.42374712e-04 9.99927806e-01 3.10113291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.460281693 meters Centerline goodness : 0.998742 with order 1 Centerline is valid? [True, True] Translation: X:44.44, Y:1.84, Z:0.31 [[ 9.98546601e-01 -5.25502768e-02 -1.19647358e-02 4.44376675e+01] [ 5.25407678e-02 9.98618165e-01 -1.10792049e-03 1.83805346e+00] [ 1.20064240e-02 4.77673834e-04 9.99927806e-01 3.11053728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.520281692999994 meters Centerline goodness : 0.998837 with order 1 Centerline is valid? [True, True] Translation: X:44.49, Y:1.86, Z:0.31 [[ 9.98609857e-01 -5.13342355e-02 -1.19645284e-02 4.44927507e+01] [ 5.13246126e-02 9.98681407e-01 -1.11015562e-03 1.85773134e+00] [ 1.20057410e-02 4.94537555e-04 9.99927806e-01 3.09767725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.580281692999996 meters Centerline goodness : 0.998690 with order 1 Centerline is valid? [True, True] Translation: X:44.55, Y:1.87, Z:0.31 [[ 9.98401227e-01 -5.52434838e-02 -1.19644385e-02 4.45489045e+01] [ 5.52341295e-02 9.98472812e-01 -1.11112319e-03 1.87482464e+00] [ 1.20075489e-02 4.48501404e-04 9.99927806e-01 3.10802726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.640281693 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:44.61, Y:1.89, Z:0.31 [[ 9.97801768e-01 -6.51804413e-02 -1.19642266e-02 4.46054436e+01] [ 6.51717728e-02 9.97873439e-01 -1.11340092e-03 1.88789145e+00] [ 1.20113559e-02 3.31223549e-04 9.99927806e-01 3.13613281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.700281692999994 meters Centerline goodness : 0.998827 with order 1 Centerline is valid? [True, True] Translation: X:44.66, Y:1.90, Z:0.31 [[ 9.97404013e-01 -7.10077067e-02 -1.19641610e-02 4.46624292e+01] [ 7.09994486e-02 9.97475733e-01 -1.11410530e-03 1.89741395e+00] [ 1.20130703e-02 2.61764264e-04 9.99927806e-01 3.13081925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.760281692999996 meters Centerline goodness : 0.998516 with order 1 Centerline is valid? [True, True] Translation: X:44.72, Y:1.91, Z:0.31 [[ 9.97028873e-01 -7.60939637e-02 -1.19639459e-02 4.47197003e+01] [ 7.60860439e-02 9.97100631e-01 -1.11641061e-03 1.90762866e+00] [ 1.20142101e-02 2.02804298e-04 9.99927806e-01 3.05576478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.820281693 meters Centerline goodness : 0.998915 with order 1 Centerline is valid? [True, True] Translation: X:44.78, Y:1.92, Z:0.31 [[ 9.96940706e-01 -7.72404950e-02 -1.19638792e-02 4.47771264e+01] [ 7.72326491e-02 9.97012472e-01 -1.11712436e-03 1.91803296e+00] [ 1.20144240e-02 1.89704658e-04 9.99927806e-01 3.13843071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88028169299999 meters Centerline goodness : 0.999195 with order 1 Centerline is valid? [True, True] Translation: X:44.83, Y:1.93, Z:0.32 [[ 9.97122380e-01 -7.48587037e-02 -1.19638138e-02 4.48338152e+01] [ 7.48506780e-02 9.97194127e-01 -1.11782431e-03 1.92776716e+00] [ 1.20139238e-02 2.19108060e-04 9.99927806e-01 3.18791755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.940281692999996 meters Centerline goodness : 0.999190 with order 1 Centerline is valid? [True, True] Translation: X:44.89, Y:1.93, Z:0.32 [[ 9.97156590e-01 -7.44016319e-02 -1.19637507e-02 4.48915256e+01] [ 7.43935652e-02 9.97228332e-01 -1.11849933e-03 1.93422893e+00] [ 1.20138093e-02 2.25292912e-04 9.99927806e-01 3.19639778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.000281693 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:44.95, Y:1.94, Z:0.32 [[ 9.96990850e-01 -7.65905944e-02 -1.19635353e-02 4.49478296e+01] [ 7.65826576e-02 9.97062606e-01 -1.12079916e-03 1.93857853e+00] [ 1.20142363e-02 2.01227186e-04 9.99927806e-01 3.22568940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06028169299999 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:45.01, Y:1.94, Z:0.32 [[ 9.97021400e-01 -7.61918885e-02 -1.19634421e-02 4.50057182e+01] [ 7.61839112e-02 9.97093152e-01 -1.12179297e-03 1.94480035e+00] [ 1.20141377e-02 2.07029785e-04 9.99927806e-01 3.21066175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.120281692999995 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:45.06, Y:1.95, Z:0.32 [[ 9.97348028e-01 -7.17899144e-02 -1.19632221e-02 4.50629039e+01] [ 7.17815923e-02 9.97419741e-01 -1.12413436e-03 1.95120763e+00] [ 1.20130554e-02 2.62414056e-04 9.99927806e-01 3.22543823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.180281693 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:45.12, Y:1.96, Z:0.32 [[ 9.97476404e-01 -6.99836451e-02 -1.19629996e-02 4.51191220e+01] [ 6.99751649e-02 9.97548098e-01 -1.12649638e-03 1.95817085e+00] [ 1.20125039e-02 2.86540687e-04 9.99927806e-01 3.21842888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24028169299999 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:45.18, Y:1.97, Z:0.32 [[ 9.97319109e-01 -7.21906061e-02 -1.19629036e-02 4.51758589e+01] [ 7.21822723e-02 9.97390820e-01 -1.12751507e-03 1.96541604e+00] [ 1.20130863e-02 2.60982763e-04 9.99927806e-01 3.19868931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.300281692999995 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:45.23, Y:1.97, Z:0.32 [[ 9.96729308e-01 -7.99223232e-02 -1.19628137e-02 4.52340686e+01] [ 7.99145343e-02 9.96801080e-01 -1.12846821e-03 1.97098741e+00] [ 1.20147354e-02 1.68774653e-04 9.99927806e-01 3.18430978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.360281693 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:45.29, Y:1.97, Z:0.32 [[ 9.96198184e-01 -8.62906407e-02 -1.19626148e-02 4.52913539e+01] [ 8.62832853e-02 9.96270002e-01 -1.13057260e-03 1.97464647e+00] [ 1.20155521e-02 9.41006637e-05 9.99927806e-01 3.23879608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42028169299999 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:45.35, Y:1.98, Z:0.32 [[ 9.96123493e-01 -8.71486350e-02 -1.19625494e-02 4.53494200e+01] [ 8.71413332e-02 9.96195316e-01 -1.13126482e-03 1.97803849e+00] [ 1.20156238e-02 8.44469614e-05 9.99927806e-01 3.21085267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.480281692999995 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:45.41, Y:1.98, Z:0.32 [[ 9.96375714e-01 -8.42160207e-02 -1.19623356e-02 4.54068322e+01] [ 8.42084804e-02 9.96447513e-01 -1.13352131e-03 1.98454754e+00] [ 1.20153002e-02 1.22083001e-04 9.99927806e-01 3.17541557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.540281693 meters Centerline goodness : 0.999338 with order 1 Centerline is valid? [True, True] Translation: X:45.46, Y:1.99, Z:0.32 [[ 9.96523538e-01 -8.24484275e-02 -1.19622695e-02 4.54639017e+01] [ 8.24407516e-02 9.96595322e-01 -1.13421786e-03 1.99317166e+00] [ 1.20150563e-02 1.44096308e-04 9.99927806e-01 3.20704206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.600281693 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:45.52, Y:2.00, Z:0.32 [[ 9.96200126e-01 -8.62682944e-02 -1.19620586e-02 4.55210637e+01] [ 8.62608670e-02 9.96271936e-01 -1.13643741e-03 2.00179637e+00] [ 1.20155018e-02 1.00261546e-04 9.99927806e-01 3.24225349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.660281692999995 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:45.58, Y:2.01, Z:0.33 [[ 9.95865958e-01 -9.00438992e-02 -1.19619938e-02 4.55786058e+01] [ 9.00367359e-02 9.95937796e-01 -1.13711958e-03 2.00695400e+00] [ 1.20157924e-02 5.53998021e-05 9.99927806e-01 3.26202884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.720281693 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:45.64, Y:2.01, Z:0.33 [[ 9.95557806e-01 -9.33893515e-02 -1.19617826e-02 4.56359480e+01] [ 9.33824030e-02 9.95629664e-01 -1.13933675e-03 2.01146062e+00] [ 1.20159075e-02 1.72555946e-05 9.99927806e-01 3.29405271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.780281693 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:45.69, Y:2.02, Z:0.33 [[ 9.95578158e-01 -9.31721484e-02 -1.19617175e-02 4.56920652e+01] [ 9.31651760e-02 9.95650014e-01 -1.14001986e-03 2.01774536e+00] [ 1.20159023e-02 2.05633586e-05 9.99927806e-01 3.31639951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.840281692999994 meters Centerline goodness : 0.999428 with order 1 Centerline is valid? [True, True] Translation: X:45.75, Y:2.02, Z:0.33 [[ 9.95716540e-01 -9.16814660e-02 -1.19616149e-02 4.57493726e+01] [ 9.16743731e-02 9.95788385e-01 -1.14109507e-03 2.02357003e+00] [ 1.20158545e-02 3.96336821e-05 9.99927806e-01 3.32603397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.900281693 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:45.81, Y:2.03, Z:0.33 [[ 9.95775939e-01 -9.10340788e-02 -1.19614090e-02 4.58065138e+01] [ 9.10269133e-02 9.95847777e-01 -1.14324926e-03 2.03140706e+00] [ 1.20158172e-02 4.96099639e-05 9.99927806e-01 3.30743073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.960281693 meters Centerline goodness : 0.999384 with order 1 Centerline is valid? [True, True] Translation: X:45.86, Y:2.04, Z:0.33 [[ 9.95694788e-01 -9.19174609e-02 -1.19611973e-02 4.58630270e+01] [ 9.19103326e-02 9.95766629e-01 -1.14546010e-03 2.03997080e+00] [ 1.20158489e-02 4.11710279e-05 9.99927806e-01 3.31115214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.020281692999994 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:45.92, Y:2.05, Z:0.33 [[ 9.95259762e-01 -9.65139239e-02 -1.19611054e-02 4.59207213e+01] [ 9.65071159e-02 9.95331634e-01 -1.14641926e-03 2.04639060e+00] [ 1.20159120e-02 -1.33468234e-05 9.99927806e-01 3.30036712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.080281692999996 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:45.98, Y:2.05, Z:0.33 [[ 9.94679776e-01 -1.02318520e-01 -1.19609032e-02 4.59789460e+01] [ 1.02312106e-01 9.94751685e-01 -1.14852528e-03 2.04703340e+00] [ 1.20156440e-02 -8.13303240e-05 9.99927806e-01 3.29395565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.140281693 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:46.04, Y:2.05, Z:0.33 [[ 9.94421638e-01 -1.04797656e-01 -1.19606903e-02 4.60364839e+01] [ 1.04791394e-01 9.94493559e-01 -1.15073726e-03 2.05079623e+00] [ 1.20154241e-02 -1.09059384e-04 9.99927806e-01 3.30945785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.200281692999994 meters Centerline goodness : 0.998853 with order 1 Centerline is valid? [True, True] Translation: X:46.09, Y:2.04, Z:0.33 [[ 9.93691012e-01 -1.11512864e-01 -1.19604709e-02 4.60939628e+01] [ 1.11507062e-01 9.93762973e-01 -1.15301352e-03 2.04422038e+00] [ 1.20144490e-02 -1.87937791e-04 9.99927806e-01 3.30584876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.260281692999996 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:46.15, Y:2.03, Z:0.33 [[ 9.93035605e-01 -1.17205957e-01 -1.19603760e-02 4.61531186e+01] [ 1.17200555e-01 9.93107596e-01 -1.15399726e-03 2.03482060e+00] [ 1.20131956e-02 -2.55802338e-04 9.99927806e-01 3.33508558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.320281693 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:46.21, Y:2.03, Z:0.33 [[ 9.92897131e-01 -1.18373300e-01 -1.19603106e-02 4.62117507e+01] [ 1.18367974e-01 9.92969128e-01 -1.15467442e-03 2.03016967e+00] [ 1.20129018e-02 -2.69244817e-04 9.99927806e-01 3.34747064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38028169299999 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:46.27, Y:2.02, Z:0.34 [[ 9.93251071e-01 -1.15365789e-01 -1.19600994e-02 4.62707342e+01] [ 1.15360220e-01 9.93323050e-01 -1.15685843e-03 2.01916230e+00] [ 1.20137043e-02 -2.30668813e-04 9.99927806e-01 3.39618418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.440281692999996 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:46.33, Y:2.01, Z:0.34 [[ 9.93815862e-01 -1.10394701e-01 -1.19600339e-02 4.63290953e+01] [ 1.10388763e-01 9.93887811e-01 -1.15753441e-03 2.01377878e+00] [ 1.20147176e-02 -1.69877293e-04 9.99927806e-01 3.39679619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.500281693 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:46.39, Y:2.01, Z:0.34 [[ 9.94293380e-01 -1.06007722e-01 -1.19598190e-02 4.63882919e+01] [ 1.06001440e-01 9.94365300e-01 -1.15975086e-03 2.01134423e+00] [ 1.20153716e-02 -1.14625433e-04 9.99927806e-01 3.38603886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56028169299999 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:46.45, Y:2.02, Z:0.34 [[ 9.94580976e-01 -1.03274631e-01 -1.19596308e-02 4.64465182e+01] [ 1.03268128e-01 9.94652876e-01 -1.16168866e-03 2.01616796e+00] [ 1.20156541e-02 -7.96552372e-05 9.99927806e-01 3.41831638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.620281692999995 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:46.50, Y:2.02, Z:0.34 [[ 9.95155675e-01 -9.75815222e-02 -1.19594425e-02 4.65047067e+01] [ 9.75745845e-02 9.95227535e-01 -1.16362386e-03 2.02051711e+00] [ 1.20159147e-02 -8.95074550e-06 9.99927806e-01 3.44290322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.680281693 meters Centerline goodness : 0.998893 with order 1 Centerline is valid? [True, True] Translation: X:46.56, Y:2.03, Z:0.34 [[ 9.95654170e-01 -9.23566524e-02 -1.19592236e-02 4.65619112e+01] [ 9.23493106e-02 9.95725989e-01 -1.16586928e-03 2.03308136e+00] [ 1.20157855e-02 5.63765503e-05 9.99927806e-01 3.44421014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74028169299999 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:46.62, Y:2.04, Z:0.34 [[ 9.95921183e-01 -8.94314277e-02 -1.19590044e-02 4.66189883e+01] [ 8.94238480e-02 9.95992977e-01 -1.16811375e-03 2.04189341e+00] [ 1.20155504e-02 9.39290347e-05 9.99927806e-01 3.42581238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.800281692999995 meters Centerline goodness : 0.999365 with order 1 Centerline is valid? [True, True] Translation: X:46.68, Y:2.05, Z:0.34 [[ 9.95690568e-01 -9.19634495e-02 -1.19589364e-02 4.66762549e+01] [ 9.19560440e-02 9.95762381e-01 -1.16880883e-03 2.05063746e+00] [ 1.20157467e-02 6.40754396e-05 9.99927806e-01 3.40789912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.860281693 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:46.73, Y:2.06, Z:0.35 [[ 9.95141841e-01 -9.77225774e-02 -1.19588702e-02 4.67339848e+01] [ 9.77155794e-02 9.95213695e-01 -1.16948627e-03 2.06007874e+00] [ 1.20159166e-02 -4.76320903e-06 9.99927806e-01 3.50041481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92028169299999 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:46.79, Y:2.07, Z:0.35 [[ 9.94570453e-01 -1.03376028e-01 -1.19586838e-02 4.67900400e+01] [ 1.03369415e-01 9.94642344e-01 -1.17138914e-03 2.07229983e+00] [ 1.20157068e-02 -7.11331175e-05 9.99927806e-01 3.53278961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.980281692999995 meters Centerline goodness : 0.999258 with order 1 Centerline is valid? [True, True] Translation: X:46.85, Y:2.09, Z:0.35 [[ 9.94116697e-01 -1.07652152e-01 -1.19585918e-02 4.68469513e+01] [ 1.07645837e-01 9.94188614e-01 -1.17232757e-03 2.08597021e+00] [ 1.20152994e-02 -1.21862214e-04 9.99927806e-01 3.52598510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.040281693 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:46.90, Y:2.10, Z:0.35 [[ 9.93907408e-01 -1.09567610e-01 -1.19583830e-02 4.69040432e+01] [ 1.09561409e-01 9.93979335e-01 -1.17445346e-03 2.09756231e+00] [ 1.20150677e-02 -1.42879290e-04 9.99927806e-01 3.50928729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.100281693 meters Centerline goodness : 0.999277 with order 1 Centerline is valid? [True, True] Translation: X:46.96, Y:2.11, Z:0.35 [[ 9.93329375e-01 -1.14689822e-01 -1.19581686e-02 4.69609537e+01] [ 1.14683966e-01 9.93401331e-01 -1.17663262e-03 2.11053639e+00] [ 1.20142084e-02 -2.02626452e-04 9.99927806e-01 3.49412047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.160281692999995 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:47.02, Y:2.12, Z:0.35 [[ 9.92954039e-01 -1.17895222e-01 -1.19579511e-02 4.70181957e+01] [ 1.17889570e-01 9.93026012e-01 -1.17883932e-03 2.12013224e+00] [ 1.20135360e-02 -2.39184446e-04 9.99927806e-01 3.48581583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.220281693 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:47.08, Y:2.13, Z:0.35 [[ 9.92836725e-01 -1.18879139e-01 -1.19577368e-02 4.70751243e+01] [ 1.18873533e-01 9.92908701e-01 -1.18100862e-03 2.12817151e+00] [ 1.20133382e-02 -2.48909693e-04 9.99927806e-01 3.46556282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.280281693 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:47.13, Y:2.13, Z:0.35 [[ 9.92372195e-01 -1.22696547e-01 -1.19575899e-02 4.71335031e+01] [ 1.22691200e-01 9.92444190e-01 -1.18249443e-03 2.13434079e+00] [ 1.20123286e-02 -2.93616455e-04 9.99927806e-01 3.49268409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.340281692999994 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:47.19, Y:2.14, Z:0.35 [[ 9.91784694e-01 -1.27358317e-01 -1.19574045e-02 4.71906795e+01] [ 1.27353286e-01 9.91856712e-01 -1.18436595e-03 2.13684480e+00] [ 1.20108708e-02 -3.48178731e-04 9.99927806e-01 3.49511544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.400281693 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:47.25, Y:2.14, Z:0.35 [[ 9.91020178e-01 -1.33176688e-01 -1.19572604e-02 4.72487195e+01] [ 1.33172062e-01 9.91092224e-01 -1.18581926e-03 2.13502171e+00] [ 1.20086712e-02 -4.17202206e-04 9.99927806e-01 3.52034352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.460281693 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:47.31, Y:2.13, Z:0.35 [[ 9.91208192e-01 -1.31770059e-01 -1.19570509e-02 4.73073305e+01] [ 1.31765305e-01 9.91280229e-01 -1.18792815e-03 2.13403177e+00] [ 1.20093215e-02 -3.98040345e-04 9.99927806e-01 3.52277407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.520281692999994 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:47.37, Y:2.13, Z:0.36 [[ 9.91507235e-01 -1.29500724e-01 -1.19568404e-02 4.73652605e+01] [ 1.29495780e-01 9.91579259e-01 -1.19004267e-03 2.13465989e+00] [ 1.20102663e-02 -3.68424462e-04 9.99927806e-01 3.56900296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.580281692999996 meters Centerline goodness : 0.999320 with order 1 Centerline is valid? [True, True] Translation: X:47.42, Y:2.13, Z:0.35 [[ 9.91642068e-01 -1.28464188e-01 -1.19566307e-02 4.74236665e+01] [ 1.28459144e-01 9.91714085e-01 -1.19214617e-03 2.13159232e+00] [ 1.20107071e-02 -3.53756246e-04 9.99927806e-01 3.53574241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.640281693 meters Centerline goodness : 0.999234 with order 1 Centerline is valid? [True, True] Translation: X:47.48, Y:2.13, Z:0.35 [[ 9.92040744e-01 -1.25348339e-01 -1.19564122e-02 4.74812744e+01] [ 1.25343041e-01 9.92112743e-01 -1.19433367e-03 2.12718840e+00] [ 1.20118166e-02 -3.13825406e-04 9.99927806e-01 3.52235699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.700281692999994 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:47.54, Y:2.13, Z:0.35 [[ 9.92823297e-01 -1.18991378e-01 -1.19563173e-02 4.75397776e+01] [ 1.18985608e-01 9.92895260e-01 -1.19528298e-03 2.12784164e+00] [ 1.20135991e-02 -2.35924884e-04 9.99927806e-01 3.53351056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.760281692999996 meters Centerline goodness : 0.998767 with order 1 Centerline is valid? [True, True] Translation: X:47.60, Y:2.13, Z:0.35 [[ 9.93278274e-01 -1.15131759e-01 -1.19560941e-02 4.75978977e+01] [ 1.15125683e-01 9.93350212e-01 -1.19751057e-03 2.12923688e+00] [ 1.20144601e-02 -1.86992271e-04 9.99927806e-01 3.51076874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.820281693 meters Centerline goodness : 0.998814 with order 1 Centerline is valid? [True, True] Translation: X:47.66, Y:2.13, Z:0.36 [[ 9.93919783e-01 -1.09455568e-01 -1.19558710e-02 4.76567335e+01] [ 1.09449054e-01 9.93991683e-01 -1.19973416e-03 2.12996944e+00] [ 1.20153539e-02 -1.16119257e-04 9.99927806e-01 3.56596638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88028169299999 meters Centerline goodness : 0.998676 with order 1 Centerline is valid? [True, True] Translation: X:47.72, Y:2.13, Z:0.35 [[ 9.94435034e-01 -1.04671032e-01 -1.19556756e-02 4.77155733e+01] [ 1.04664149e-01 9.94506899e-01 -1.20167877e-03 2.13378464e+00] [ 1.20157828e-02 -5.63391391e-05 9.99927806e-01 3.54608460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.940281692999996 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:47.77, Y:2.14, Z:0.36 [[ 9.94822571e-01 -1.00921354e-01 -1.19554769e-02 4.77730567e+01] [ 1.00914177e-01 9.94894407e-01 -1.20365165e-03 2.14219414e+00] [ 1.20159113e-02 -9.05728353e-06 9.99927806e-01 3.59405279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.000281693 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:47.83, Y:2.15, Z:0.36 [[ 9.94790885e-01 -1.01233211e-01 -1.19554065e-02 4.78310430e+01] [ 1.01226048e-01 9.94862723e-01 -1.20435111e-03 2.14884426e+00] [ 1.20159086e-02 -1.21210386e-05 9.99927806e-01 3.63846985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06028169299999 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:47.89, Y:2.16, Z:0.37 [[ 9.94433840e-01 -1.04682431e-01 -1.19551799e-02 4.78884564e+01] [ 1.04675490e-01 9.94505699e-01 -1.20659614e-03 2.15743641e+00] [ 1.20158039e-02 -5.15342828e-05 9.99927806e-01 3.65804169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.120281692999995 meters Centerline goodness : 0.999150 with order 1 Centerline is valid? [True, True] Translation: X:47.95, Y:2.16, Z:0.36 [[ 9.93835900e-01 -1.10214711e-01 -1.19549511e-02 4.79453020e+01] [ 1.10208142e-01 9.93907795e-01 -1.20885846e-03 2.16269580e+00] [ 1.20153531e-02 -1.16126016e-04 9.99927806e-01 3.64166481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.180281693 meters Centerline goodness : 0.999194 with order 1 Centerline is valid? [True, True] Translation: X:48.00, Y:2.16, Z:0.36 [[ 9.92661769e-01 -1.20331602e-01 -1.19548523e-02 4.80038638e+01] [ 1.20325754e-01 9.92733725e-01 -1.20983534e-03 2.16454530e+00] [ 1.20135664e-02 -2.37519327e-04 9.99927806e-01 3.63199700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24028169299999 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:48.06, Y:2.17, Z:0.37 [[ 9.92090278e-01 -1.24955864e-01 -1.19546204e-02 4.80606953e+01] [ 1.24950325e-01 9.92162258e-01 -1.21212240e-03 2.16622420e+00] [ 1.20123849e-02 -2.91198846e-04 9.99927806e-01 3.65389395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.300281692999995 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:48.12, Y:2.17, Z:0.37 [[ 9.92047750e-01 -1.25293069e-01 -1.19544636e-02 4.81192026e+01] [ 1.25287535e-01 9.92119731e-01 -1.21366661e-03 2.16601430e+00] [ 1.20123232e-02 -2.93730052e-04 9.99927806e-01 3.69946642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.360281693 meters Centerline goodness : 0.999281 with order 1 Centerline is valid? [True, True] Translation: X:48.18, Y:2.17, Z:0.37 [[ 9.92155015e-01 -1.24440842e-01 -1.19542369e-02 4.81765376e+01] [ 1.24435219e-01 9.92226989e-01 -1.21589584e-03 2.16938054e+00] [ 1.20126235e-02 -2.81170932e-04 9.99927806e-01 3.68788503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42028169299999 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:48.24, Y:2.17, Z:0.36 [[ 9.92325167e-01 -1.23076646e-01 -1.19541388e-02 4.82363197e+01] [ 1.23070913e-01 9.92397133e-01 -1.21685917e-03 2.16737630e+00] [ 1.20130200e-02 -2.63686792e-04 9.99927806e-01 3.59204202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.480281692999995 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:48.29, Y:2.17, Z:0.36 [[ 9.93101811e-01 -1.16644314e-01 -1.19539403e-02 4.82930193e+01] [ 1.16638091e-01 9.93173736e-01 -1.21880580e-03 2.16878651e+00] [ 1.20145063e-02 -1.83886541e-04 9.99927806e-01 3.60573047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.540281693 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:48.35, Y:2.17, Z:0.36 [[ 9.93817766e-01 -1.10378228e-01 -1.19538419e-02 4.83506381e+01] [ 1.10371540e-01 9.93889649e-01 -1.21977002e-03 2.17230247e+00] [ 1.20154358e-02 -1.07134824e-04 9.99927806e-01 3.61020352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.600281693 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:48.41, Y:2.17, Z:0.36 [[ 9.94409740e-01 -1.04911295e-01 -1.19536171e-02 4.84094211e+01] [ 1.04904185e-01 9.94481583e-01 -1.22196975e-03 2.17276224e+00] [ 1.20158504e-02 -3.88458381e-05 9.99927806e-01 3.64778614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.660281692999995 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:48.47, Y:2.17, Z:0.37 [[ 9.94584734e-01 -1.03239150e-01 -1.19534208e-02 4.84682838e+01] [ 1.03231897e-01 9.94656563e-01 -1.22388677e-03 2.17253585e+00] [ 1.20159015e-02 -1.67152040e-05 9.99927806e-01 3.70851593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.720281693 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:48.53, Y:2.17, Z:0.38 [[ 9.94573601e-01 -1.03346377e-01 -1.19532221e-02 4.85269362e+01] [ 1.03339108e-01 9.94645427e-01 -1.22582381e-03 2.17281891e+00] [ 1.20159022e-02 -1.60633147e-05 9.99927806e-01 3.76789424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.780281693 meters Centerline goodness : 0.999193 with order 1 Centerline is valid? [True, True] Translation: X:48.58, Y:2.18, Z:0.38 [[ 9.94857534e-01 -1.00576409e-01 -1.19529864e-02 4.85837374e+01] [ 1.00568912e-01 9.94929337e-01 -1.22811779e-03 2.17746908e+00] [ 1.20158965e-02 1.97033895e-05 9.99927806e-01 3.79276209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.840281692999994 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:48.64, Y:2.19, Z:0.37 [[ 9.95762997e-01 -9.11766599e-02 -1.19528265e-02 4.86413122e+01] [ 9.11684670e-02 9.95834725e-01 -1.22967193e-03 2.18557184e+00] [ 1.20151571e-02 1.34740930e-04 9.99927806e-01 3.72881263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.900281693 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:48.70, Y:2.20, Z:0.37 [[ 9.96550439e-01 -8.21240159e-02 -1.19527560e-02 4.86979165e+01] [ 8.21151633e-02 9.96622088e-01 -1.23035692e-03 2.19816918e+00] [ 1.20134225e-02 2.44610210e-04 9.99927806e-01 3.73833166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.960281693 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:48.75, Y:2.21, Z:0.38 [[ 9.96909512e-01 -7.76438127e-02 -1.19525246e-02 4.87538371e+01] [ 7.76346113e-02 9.96981117e-01 -1.23260144e-03 2.21062834e+00] [ 1.20121452e-02 3.00862505e-04 9.99927806e-01 3.76690158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.020281692999994 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:48.81, Y:2.23, Z:0.38 [[ 9.97089994e-01 -7.52906563e-02 -1.19524251e-02 4.88094890e+01] [ 7.52812743e-02 9.97161576e-01 -1.23356555e-03 2.22577074e+00] [ 1.20113750e-02 3.30182078e-04 9.99927806e-01 3.75670114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.080281692999996 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:48.87, Y:2.24, Z:0.37 [[ 9.96947613e-01 -7.71530826e-02 -1.19523270e-02 4.88671995e+01] [ 7.71438230e-02 9.97019211e-01 -1.23451538e-03 2.24358703e+00] [ 1.20119463e-02 3.08698962e-04 9.99927806e-01 3.66862848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.140281693 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:48.92, Y:2.26, Z:0.37 [[ 9.96717233e-01 -8.00743682e-02 -1.19521331e-02 4.89244439e+01] [ 8.00652960e-02 9.96788854e-01 -1.23638954e-03 2.25570809e+00] [ 1.20127562e-02 2.75379689e-04 9.99927806e-01 3.68362769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.200281692999994 meters Centerline goodness : 0.999193 with order 1 Centerline is valid? [True, True] Translation: X:48.98, Y:2.27, Z:0.37 [[ 9.96353099e-01 -8.44846389e-02 -1.19519115e-02 4.89814723e+01] [ 8.44758580e-02 9.96424757e-01 -1.23852814e-03 2.27015294e+00] [ 1.20138171e-02 2.24363374e-04 9.99927806e-01 3.69086642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.260281692999996 meters Centerline goodness : 0.999280 with order 1 Centerline is valid? [True, True] Translation: X:49.04, Y:2.28, Z:0.37 [[ 9.95573408e-01 -9.32241763e-02 -1.19516901e-02 4.90381303e+01] [ 9.32159990e-02 9.95645137e-01 -1.24066075e-03 2.28078523e+00] [ 1.20153017e-02 1.21080118e-04 9.99927806e-01 3.73550699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.320281693 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:49.10, Y:2.29, Z:0.38 [[ 9.94394243e-01 -1.05058313e-01 -1.19515867e-02 4.90961927e+01] [ 1.05050978e-01 9.94466063e-01 -1.24165565e-03 2.28645231e+00] [ 1.20158937e-02 -2.08306413e-05 9.99927806e-01 3.76095259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38028169299999 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:49.15, Y:2.29, Z:0.37 [[ 9.93312782e-01 -1.14834149e-01 -1.19513694e-02 4.91547500e+01] [ 1.14827495e-01 9.93384668e-01 -1.24374451e-03 2.28649356e+00] [ 1.20151314e-02 -1.36918490e-04 9.99927806e-01 3.74239921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.440281692999996 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:49.21, Y:2.28, Z:0.38 [[ 9.91631675e-01 -1.28544901e-01 -1.19511552e-02 4.92135443e+01] [ 1.28539216e-01 9.91703644e-01 -1.24579935e-03 2.28276979e+00] [ 1.20121453e-02 -3.00818013e-04 9.99927806e-01 3.76117936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.500281693 meters Centerline goodness : 0.999468 with order 1 Centerline is valid? [True, True] Translation: X:49.27, Y:2.28, Z:0.38 [[ 9.91229004e-01 -1.31613968e-01 -1.19509308e-02 4.92713775e+01] [ 1.31608480e-01 9.91300989e-01 -1.24794762e-03 2.27976824e+00] [ 1.20112169e-02 -3.35841957e-04 9.99927806e-01 3.75208267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56028169299999 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:49.33, Y:2.28, Z:0.38 [[ 9.91920961e-01 -1.26293252e-01 -1.19508342e-02 4.93286133e+01] [ 1.26287367e-01 9.91992914e-01 -1.24887276e-03 2.28200126e+00] [ 1.20128670e-02 -2.70456301e-04 9.99927806e-01 3.77011556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.620281692999995 meters Centerline goodness : 0.999470 with order 1 Centerline is valid? [True, True] Translation: X:49.39, Y:2.28, Z:0.38 [[ 9.93327701e-01 -1.14705088e-01 -1.19507432e-02 4.93869480e+01] [ 1.14698353e-01 9.93399580e-01 -1.24974277e-03 2.28470813e+00] [ 1.20152151e-02 -1.29326445e-04 9.99927806e-01 3.80431138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.680281693 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:49.44, Y:2.29, Z:0.38 [[ 9.93864289e-01 -1.09958907e-01 -1.19505175e-02 4.94439784e+01] [ 1.09951802e-01 9.93936132e-01 -1.25189686e-03 2.29271192e+00] [ 1.20157084e-02 -6.97653575e-05 9.99927806e-01 3.80973105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74028169299999 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:49.50, Y:2.30, Z:0.38 [[ 9.93896176e-01 -1.09670331e-01 -1.19502832e-02 4.95014113e+01] [ 1.09663179e-01 9.93968015e-01 -1.25412969e-03 2.30207764e+00] [ 1.20157401e-02 -6.40313406e-05 9.99927806e-01 3.80267743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.800281692999995 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:49.56, Y:2.31, Z:0.38 [[ 9.94012331e-01 -1.08612533e-01 -1.19500464e-02 4.95587696e+01] [ 1.08605277e-01 9.94084159e-01 -1.25638220e-03 2.31078267e+00] [ 1.20158107e-02 -4.89787037e-05 9.99927806e-01 3.79434698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.860281693 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:49.61, Y:2.32, Z:0.39 [[ 9.94216116e-01 -1.06731045e-01 -1.19498098e-02 4.96148661e+01] [ 1.06723626e-01 9.94287928e-01 -1.25862823e-03 2.31950183e+00] [ 1.20158863e-02 -2.39785645e-05 9.99927806e-01 3.86350136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92028169299999 meters Centerline goodness : 0.999385 with order 1 Centerline is valid? [True, True] Translation: X:49.67, Y:2.33, Z:0.38 [[ 9.94669040e-01 -1.02424149e-01 -1.19497072e-02 4.96708398e+01] [ 1.02416407e-01 9.94740817e-01 -1.25960155e-03 2.32891326e+00] [ 1.20158751e-02 2.90405789e-05 9.99927806e-01 3.83322766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.980281692999995 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:49.73, Y:2.34, Z:0.38 [[ 9.94779042e-01 -1.01350216e-01 -1.19495467e-02 4.97281152e+01] [ 1.01342379e-01 9.94850809e-01 -1.26112274e-03 2.33605046e+00] [ 1.20158312e-02 4.35429830e-05 9.99927806e-01 3.81586396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.040281693 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:49.78, Y:2.35, Z:0.38 [[ 9.94887401e-01 -1.00280968e-01 -1.19493148e-02 4.97838667e+01] [ 1.00273028e-01 9.94959157e-01 -1.26331555e-03 2.34803647e+00] [ 1.20157667e-02 5.86627451e-05 9.99927806e-01 3.82623277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.100281693 meters Centerline goodness : 0.999365 with order 1 Centerline is valid? [True, True] Translation: X:49.84, Y:2.36, Z:0.39 [[ 9.94742058e-01 -1.01712606e-01 -1.19492142e-02 4.98414744e+01] [ 1.01704757e-01 9.94813824e-01 -1.26426684e-03 2.35741782e+00] [ 1.20158353e-02 4.23274679e-05 9.99927806e-01 3.85983483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.160281692999995 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:49.90, Y:2.37, Z:0.38 [[ 9.94443652e-01 -1.04589891e-01 -1.19489828e-02 4.98986319e+01] [ 1.04582224e-01 9.94515437e-01 -1.26644967e-03 2.36833973e+00] [ 1.20159057e-02 9.76163868e-06 9.99927806e-01 3.80634439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.220281693 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:49.96, Y:2.38, Z:0.38 [[ 9.94094693e-01 -1.07856241e-01 -1.19487435e-02 4.99551493e+01] [ 1.07848783e-01 9.94166500e-01 -1.26870359e-03 2.38140878e+00] [ 1.20158781e-02 -2.74459364e-05 9.99927806e-01 3.83599942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.280281693 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:50.01, Y:2.39, Z:0.39 [[ 9.93058454e-01 -1.17013405e-01 -1.19486694e-02 5.00125644e+01] [ 1.17006600e-01 9.93130326e-01 -1.26940079e-03 2.38949939e+00] [ 1.20151229e-02 -1.37484002e-04 9.99927806e-01 3.89666388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.340281692999994 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:50.07, Y:2.40, Z:0.38 [[ 9.92320669e-01 -1.23113460e-01 -1.19484429e-02 5.00700570e+01] [ 1.23107072e-01 9.92392580e-01 -1.27152967e-03 2.39524985e+00] [ 1.20140885e-02 -2.09172639e-04 9.99927806e-01 3.83869176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.400281693 meters Centerline goodness : 0.999532 with order 1 Centerline is valid? [True, True] Translation: X:50.13, Y:2.40, Z:0.38 [[ 9.92145926e-01 -1.24513864e-01 -1.19482176e-02 5.01265731e+01] [ 1.24507552e-01 9.92217843e-01 -1.27364365e-03 2.40210969e+00] [ 1.20138209e-02 -2.24002955e-04 9.99927806e-01 3.84726713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.460281693 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:50.18, Y:2.41, Z:0.38 [[ 9.92247438e-01 -1.23702320e-01 -1.19481204e-02 5.01839363e+01] [ 1.23695937e-01 9.92319349e-01 -1.27455397e-03 2.41052706e+00] [ 1.20140164e-02 -2.13261046e-04 9.99927806e-01 3.84898136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.520281692999994 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:50.24, Y:2.41, Z:0.39 [[ 9.92347237e-01 -1.22899185e-01 -1.19478931e-02 5.02414313e+01] [ 1.22892718e-01 9.92419140e-01 -1.27668161e-03 2.41295253e+00] [ 1.20142209e-02 -2.01397593e-04 9.99927806e-01 3.86684690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.580281692999996 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:50.30, Y:2.42, Z:0.39 [[ 9.92341302e-01 -1.22947108e-01 -1.19477947e-02 5.02984666e+01] [ 1.22940634e-01 9.92413204e-01 -1.27760161e-03 2.42179771e+00] [ 1.20142267e-02 -2.01052617e-04 9.99927806e-01 3.93129701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.640281693 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:50.36, Y:2.43, Z:0.39 [[ 9.93237257e-01 -1.15485961e-01 -1.19475626e-02 5.03556645e+01] [ 1.15478921e-01 9.93309106e-01 -1.27976856e-03 2.43394955e+00] [ 1.20154180e-02 -1.08577825e-04 9.99927806e-01 3.90939232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.700281692999994 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:50.41, Y:2.45, Z:0.39 [[ 9.93443909e-01 -1.13694597e-01 -1.19473290e-02 5.04123503e+01] [ 1.13687401e-01 9.93515743e-01 -1.28194574e-03 2.44693706e+00] [ 1.20156097e-02 -8.47195971e-05 9.99927806e-01 3.88856626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.760281692999996 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:50.47, Y:2.45, Z:0.39 [[ 9.93003886e-01 -1.17475743e-01 -1.19470811e-02 5.04687734e+01] [ 1.17468793e-01 9.93075744e-01 -1.28425165e-03 2.45372857e+00] [ 1.20152249e-02 -1.28142315e-04 9.99927806e-01 3.90357339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.820281693 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:50.53, Y:2.46, Z:0.39 [[ 9.92395050e-01 -1.22512588e-01 -1.19469736e-02 5.05261422e+01] [ 1.22505990e-01 9.92466942e-01 -1.28525077e-03 2.46037617e+00] [ 1.20144358e-02 -1.88099329e-04 9.99927806e-01 3.89180265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88028169299999 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:50.58, Y:2.46, Z:0.39 [[ 9.91625311e-01 -1.28594396e-01 -1.19467320e-02 5.05831324e+01] [ 1.28588213e-01 9.91697239e-01 -1.28749257e-03 2.46112679e+00] [ 1.20131055e-02 -2.59498700e-04 9.99927806e-01 3.86966382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.940281692999996 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:50.64, Y:2.46, Z:0.39 [[ 9.91825768e-01 -1.27039061e-01 -1.19466273e-02 5.06416057e+01] [ 1.27032753e-01 9.91897686e-01 -1.28846391e-03 2.46156187e+00] [ 1.20135172e-02 -2.39681247e-04 9.99927806e-01 3.91174591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.000281693 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:50.70, Y:2.46, Z:0.39 [[ 9.92569027e-01 -1.21095048e-01 -1.19463852e-02 5.06992263e+01] [ 1.21088282e-01 9.92640903e-01 -1.29070437e-03 2.46239105e+00] [ 1.20147685e-02 -1.65454082e-04 9.99927806e-01 3.89489274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06028169299999 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:50.76, Y:2.47, Z:0.39 [[ 9.92842347e-01 -1.18833328e-01 -1.19462803e-02 5.07568295e+01] [ 1.18826387e-01 9.92914206e-01 -1.29167476e-03 2.46669221e+00] [ 1.20151254e-02 -1.37103926e-04 9.99927806e-01 3.94100304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.120281692999995 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:50.81, Y:2.47, Z:0.40 [[ 9.93552979e-01 -1.12737618e-01 -1.19460447e-02 5.08140173e+01] [ 1.12730210e-01 9.93624791e-01 -1.29385016e-03 2.47359737e+00] [ 1.20157517e-02 -6.11714463e-05 9.99927806e-01 3.96322782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.180281693 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:50.87, Y:2.48, Z:0.39 [[ 9.94192210e-01 -1.06953952e-01 -1.19458021e-02 5.08700260e+01] [ 1.06946099e-01 9.94263975e-01 -1.29608577e-03 2.48396954e+00] [ 1.20159022e-02 1.10014448e-05 9.99927806e-01 3.91547220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24028169299999 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:50.93, Y:2.49, Z:0.39 [[ 9.94165221e-01 -1.07204543e-01 -1.19456973e-02 5.09276563e+01] [ 1.07196696e-01 9.94236987e-01 -1.29705104e-03 2.49358144e+00] [ 1.20159039e-02 8.94374283e-06 9.99927806e-01 3.91934716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.300281692999995 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:50.98, Y:2.51, Z:0.40 [[ 9.93767759e-01 -1.10828463e-01 -1.19454520e-02 5.09845950e+01] [ 1.10820851e-01 9.93839550e-01 -1.29930637e-03 2.50512529e+00] [ 1.20158628e-02 -3.25963800e-05 9.99927806e-01 3.96617792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.360281693 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:51.04, Y:2.51, Z:0.39 [[ 9.93362534e-01 -1.14403599e-01 -1.19453762e-02 5.10420079e+01] [ 1.14396238e-01 9.93434352e-01 -1.30000276e-03 2.51415424e+00] [ 1.20156721e-02 -7.51320634e-05 9.99927806e-01 3.92409861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42028169299999 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:51.10, Y:2.52, Z:0.39 [[ 9.92998330e-01 -1.17522891e-01 -1.19451354e-02 5.10989203e+01] [ 1.17515728e-01 9.93070168e-01 -1.30221222e-03 2.52158991e+00] [ 1.20153973e-02 -1.10646721e-04 9.99927806e-01 3.93431118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.480281692999995 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:51.16, Y:2.53, Z:0.39 [[ 9.93001828e-01 -1.17493343e-01 -1.19450312e-02 5.11560767e+01] [ 1.17486167e-01 9.93073664e-01 -1.30316732e-03 2.52556883e+00] [ 1.20154093e-02 -1.09328392e-04 9.99927806e-01 3.93909700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.540281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:51.21, Y:2.53, Z:0.40 [[ 9.92983420e-01 -1.17648828e-01 -1.19449300e-02 5.12139393e+01] [ 1.17641652e-01 9.93055256e-01 -1.30409411e-03 2.53125774e+00] [ 1.20154006e-02 -1.10277465e-04 9.99927806e-01 3.96570706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60028169299999 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:51.27, Y:2.54, Z:0.40 [[ 9.92854441e-01 -1.18732399e-01 -1.19446940e-02 5.12715128e+01] [ 1.18725276e-01 9.92926283e-01 -1.30625204e-03 2.53601599e+00] [ 1.20152950e-02 -1.21218947e-04 9.99927806e-01 4.04516583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.660281692999995 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:51.33, Y:2.54, Z:0.40 [[ 9.92896736e-01 -1.18378212e-01 -1.19444585e-02 5.13294369e+01] [ 1.18371037e-01 9.92968572e-01 -1.30840167e-03 2.54296886e+00] [ 1.20153582e-02 -1.14770191e-04 9.99927806e-01 4.04740991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.720281693 meters Centerline goodness : 0.999449 with order 1 Centerline is valid? [True, True] Translation: X:51.39, Y:2.55, Z:0.40 [[ 9.92634564e-01 -1.20556870e-01 -1.19442161e-02 5.13870589e+01] [ 1.20549826e-01 9.92706413e-01 -1.31061061e-03 2.54545474e+00] [ 1.20151031e-02 -1.38915793e-04 9.99927806e-01 4.03289010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.780281693 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:51.44, Y:2.55, Z:0.40 [[ 9.92141113e-01 -1.24552615e-01 -1.19439690e-02 5.14446746e+01] [ 1.24545833e-01 9.92212987e-01 -1.31285867e-03 2.54926231e+00] [ 1.20144812e-02 -1.85030511e-04 9.99927806e-01 4.04810432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.840281692999994 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:51.50, Y:2.55, Z:0.41 [[ 9.91906779e-01 -1.26405254e-01 -1.19437239e-02 5.15024125e+01] [ 1.26398580e-01 9.91978664e-01 -1.31508521e-03 2.55378050e+00] [ 1.20141529e-02 -2.05227800e-04 9.99927806e-01 4.05520001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.900281693 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:51.56, Y:2.55, Z:0.40 [[ 9.91830404e-01 -1.27003159e-01 -1.19434758e-02 5.15597498e+01] [ 1.26996500e-01 9.91902290e-01 -1.31733446e-03 2.55217021e+00] [ 1.20140666e-02 -2.10207262e-04 9.99927806e-01 4.04855423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.960281693 meters Centerline goodness : 0.999428 with order 1 Centerline is valid? [True, True] Translation: X:51.62, Y:2.55, Z:0.41 [[ 9.91721375e-01 -1.27851755e-01 -1.19433684e-02 5.16184846e+01] [ 1.27845147e-01 9.91793265e-01 -1.31830719e-03 2.55196408e+00] [ 1.20139002e-02 -2.19508268e-04 9.99927806e-01 4.05053718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.020281692999994 meters Centerline goodness : 0.999597 with order 1 Centerline is valid? [True, True] Translation: X:51.68, Y:2.55, Z:0.40 [[ 9.91833855e-01 -1.26976241e-01 -1.19431219e-02 5.16761332e+01] [ 1.26969542e-01 9.91905737e-01 -1.32053633e-03 2.55368359e+00] [ 1.20141279e-02 -2.06660085e-04 9.99927806e-01 4.03489662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.080281692999996 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:51.73, Y:2.56, Z:0.40 [[ 9.92164374e-01 -1.24367280e-01 -1.19430153e-02 5.17338151e+01] [ 1.24360380e-01 9.92236237e-01 -1.32149994e-03 2.55553473e+00] [ 1.20146439e-02 -1.74092766e-04 9.99927806e-01 4.01577042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.140281693 meters Centerline goodness : 0.999380 with order 1 Centerline is valid? [True, True] Translation: X:51.79, Y:2.55, Z:0.41 [[ 9.92369495e-01 -1.22719824e-01 -1.19427719e-02 5.17925171e+01] [ 1.22712779e-01 9.92441344e-01 -1.32369645e-03 2.55482939e+00] [ 1.20149444e-02 -1.51934745e-04 9.99927806e-01 4.05390746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.200281692999994 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:51.85, Y:2.56, Z:0.41 [[ 9.92822334e-01 -1.19000781e-01 -1.19426962e-02 5.18504222e+01] [ 1.18993458e-01 9.92894155e-01 -1.32437848e-03 2.56060342e+00] [ 1.20154354e-02 -1.06230198e-04 9.99927806e-01 4.05415556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.260281692999996 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:51.91, Y:2.57, Z:0.40 [[ 9.93653643e-01 -1.11847286e-01 -1.19424581e-02 5.19081541e+01] [ 1.11839421e-01 9.93725407e-01 -1.32652222e-03 2.57059409e+00] [ 1.20158920e-02 -1.75339602e-05 9.99927806e-01 4.03652686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.320281693 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:51.96, Y:2.59, Z:0.41 [[ 9.94324256e-01 -1.05719709e-01 -1.19422108e-02 5.19645042e+01] [ 1.05711374e-01 9.94395967e-01 -1.32874525e-03 2.58520465e+00] [ 1.20157608e-02 5.87761175e-05 9.99927806e-01 4.06134812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38028169299999 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:52.02, Y:2.60, Z:0.41 [[ 9.94288211e-01 -1.06058189e-01 -1.19421343e-02 5.20211881e+01] [ 1.06049871e-01 9.94359924e-01 -1.32943185e-03 2.59515123e+00] [ 1.20157769e-02 5.53766101e-05 9.99927806e-01 4.09248219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.440281692999996 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:52.08, Y:2.60, Z:0.41 [[ 9.93834783e-01 -1.10226182e-01 -1.19420596e-02 5.20779111e+01] [ 1.10218157e-01 9.93906529e-01 -1.33010275e-03 2.60494886e+00] [ 1.20159032e-02 5.67058726e-06 9.99927806e-01 4.11929302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.500281693 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:52.13, Y:2.62, Z:0.41 [[ 9.93315559e-01 -1.14811121e-01 -1.19418118e-02 5.21344712e+01] [ 1.14803400e-01 9.93387339e-01 -1.33232373e-03 2.61549951e+00] [ 1.20158102e-02 -4.75427032e-05 9.99927806e-01 4.14916360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56028169299999 meters Centerline goodness : 0.998938 with order 1 Centerline is valid? [True, True] Translation: X:52.19, Y:2.63, Z:0.41 [[ 9.93329909e-01 -1.14686920e-01 -1.19416446e-02 5.21918483e+01] [ 1.14679173e-01 9.93401685e-01 -1.33382110e-03 2.62970694e+00] [ 1.20158217e-02 -4.45335297e-05 9.99927806e-01 4.05722815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.620281692999995 meters Centerline goodness : 0.998730 with order 1 Centerline is valid? [True, True] Translation: X:52.25, Y:2.64, Z:0.41 [[ 9.93026136e-01 -1.17288090e-01 -1.19414329e-02 5.22499079e+01] [ 1.17280507e-01 9.93097930e-01 -1.33571355e-03 2.64353315e+00] [ 1.20156756e-02 -7.40988358e-05 9.99927806e-01 4.08929479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.680281693 meters Centerline goodness : 0.998547 with order 1 Centerline is valid? [True, True] Translation: X:52.31, Y:2.65, Z:0.41 [[ 9.92276329e-01 -1.23471025e-01 -1.19412219e-02 5.23068933e+01] [ 1.23463867e-01 9.92348167e-01 -1.33759702e-03 2.65493512e+00] [ 1.20150041e-02 -1.47043577e-04 9.99927806e-01 4.14429307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74028169299999 meters Centerline goodness : 0.998351 with order 1 Centerline is valid? [True, True] Translation: X:52.36, Y:2.67, Z:0.41 [[ 9.91761635e-01 -1.27539300e-01 -1.19409769e-02 5.23640349e+01] [ 1.27532410e-01 9.91833499e-01 -1.33978099e-03 2.66658951e+00] [ 1.20143356e-02 -1.94118172e-04 9.99927806e-01 4.13725078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.800281692999995 meters Centerline goodness : 0.998324 with order 1 Centerline is valid? [True, True] Translation: X:52.42, Y:2.68, Z:0.41 [[ 9.91349865e-01 -1.30701434e-01 -1.19407301e-02 5.24214516e+01] [ 1.30694747e-01 9.91421748e-01 -1.34197678e-03 2.67926422e+00] [ 1.20136978e-02 -2.30222198e-04 9.99927806e-01 4.10929519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.860281693 meters Centerline goodness : 0.997903 with order 1 Centerline is valid? [True, True] Translation: X:52.48, Y:2.69, Z:0.41 [[ 9.90918755e-01 -1.33930748e-01 -1.19404845e-02 5.24791075e+01] [ 1.33924269e-01 9.90990658e-01 -1.34415806e-03 2.68613397e+00] [ 1.20129327e-02 -2.67169233e-04 9.99927806e-01 4.12926760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92028169299999 meters Centerline goodness : 0.997689 with order 1 Centerline is valid? [True, True] Translation: X:52.54, Y:2.69, Z:0.42 [[ 9.91018718e-01 -1.33189063e-01 -1.19404087e-02 5.25364024e+01] [ 1.33182522e-01 9.91090615e-01 -1.34483177e-03 2.69305882e+00] [ 1.20131438e-02 -2.57500286e-04 9.99927806e-01 4.15236524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.980281692999995 meters Centerline goodness : 0.997954 with order 1 Centerline is valid? [True, True] Translation: X:52.59, Y:2.70, Z:0.41 [[ 9.91347333e-01 -1.30720687e-01 -1.19401685e-02 5.25943694e+01] [ 1.30713942e-01 9.91419211e-01 -1.34696050e-03 2.69991208e+00] [ 1.20137881e-02 -2.25440787e-04 9.99927806e-01 4.13057803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.040281693 meters Centerline goodness : 0.997669 with order 1 Centerline is valid? [True, True] Translation: X:52.65, Y:2.70, Z:0.42 [[ 9.91880960e-01 -1.26608054e-01 -1.19399151e-02 5.26516346e+01] [ 1.26600983e-01 9.91952807e-01 -1.34920340e-03 2.70329301e+00] [ 1.20146523e-02 -1.73355823e-04 9.99927806e-01 4.19395147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10028169299999 meters Centerline goodness : 0.997580 with order 1 Centerline is valid? [True, True] Translation: X:52.71, Y:2.71, Z:0.42 [[ 9.92564556e-01 -1.21132337e-01 -1.19398366e-02 5.27087909e+01] [ 1.21124862e-01 9.92636361e-01 -1.34989718e-03 2.71042528e+00] [ 1.20154322e-02 -1.06350963e-04 9.99927806e-01 4.16148033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.160281692999995 meters Centerline goodness : 0.998012 with order 1 Centerline is valid? [True, True] Translation: X:52.77, Y:2.72, Z:0.42 [[ 9.93800201e-01 -1.10537805e-01 -1.19395844e-02 5.27653419e+01] [ 1.10529538e-01 9.93871920e-01 -1.35212440e-03 2.72250546e+00] [ 1.20158785e-02 2.40647574e-05 9.99927806e-01 4.17541808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.220281693 meters Centerline goodness : 0.997650 with order 1 Centerline is valid? [True, True] Translation: X:52.82, Y:2.73, Z:0.42 [[ 9.94763951e-01 -1.01499431e-01 -1.19393298e-02 5.28208034e+01] [ 1.01490485e-01 9.94835588e-01 -1.35436884e-03 2.73477811e+00] [ 1.20151379e-02 1.35548925e-04 9.99927806e-01 4.18046097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.280281693 meters Centerline goodness : 0.997743 with order 1 Centerline is valid? [True, True] Translation: X:52.88, Y:2.75, Z:0.42 [[ 9.95148701e-01 -9.76551000e-02 -1.19392194e-02 5.28774851e+01] [ 9.76458656e-02 9.95220301e-01 -1.35534183e-03 2.74576671e+00] [ 1.20145095e-02 1.82951253e-04 9.99927806e-01 4.16424605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.340281692999994 meters Centerline goodness : 0.997567 with order 1 Centerline is valid? [True, True] Translation: X:52.93, Y:2.76, Z:0.42 [[ 9.95697270e-01 -9.18934378e-02 -1.19391412e-02 5.29336573e+01] [ 9.18837809e-02 9.95768815e-01 -1.35602970e-03 2.76214625e+00] [ 1.20132347e-02 2.53181630e-04 9.99927806e-01 4.19636933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.400281693 meters Centerline goodness : 0.997830 with order 1 Centerline is valid? [True, True] Translation: X:52.99, Y:2.78, Z:0.42 [[ 9.96204317e-01 -8.62230867e-02 -1.19388917e-02 5.29895223e+01] [ 8.62129964e-02 9.96275802e-01 -1.35822287e-03 2.77852816e+00] [ 1.20115391e-02 3.23779854e-04 9.99927806e-01 4.23209107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.460281693 meters Centerline goodness : 0.997995 with order 1 Centerline is valid? [True, True] Translation: X:53.05, Y:2.80, Z:0.42 [[ 9.96143239e-01 -8.69258953e-02 -1.19388146e-02 5.30460079e+01] [ 8.69158473e-02 9.96214730e-01 -1.35890057e-03 2.79787115e+00] [ 1.20117466e-02 3.15987432e-04 9.99927806e-01 4.24976202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.520281692999994 meters Centerline goodness : 0.997656 with order 1 Centerline is valid? [True, True] Translation: X:53.10, Y:2.81, Z:0.42 [[ 9.95704435e-01 -9.18158414e-02 -1.19385576e-02 5.31022041e+01] [ 9.18061175e-02 9.95775971e-01 -1.36115460e-03 2.81063597e+00] [ 1.20131043e-02 2.59275053e-04 9.99927806e-01 4.24838555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.580281692999996 meters Centerline goodness : 0.997963 with order 1 Centerline is valid? [True, True] Translation: X:53.16, Y:2.83, Z:0.43 [[ 9.94730039e-01 -1.01831351e-01 -1.19383744e-02 5.31576311e+01] [ 1.01822328e-01 9.94801667e-01 -1.36275977e-03 2.82557648e+00] [ 1.20150864e-02 1.39985015e-04 9.99927806e-01 4.28626028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.640281693 meters Centerline goodness : 0.997853 with order 1 Centerline is valid? [True, True] Translation: X:53.21, Y:2.84, Z:0.43 [[ 9.94218981e-01 -1.06705653e-01 -1.19382678e-02 5.32139055e+01] [ 1.06696970e-01 9.94290650e-01 -1.36369286e-03 2.83747181e+00] [ 1.20156218e-02 8.20323207e-05 9.99927806e-01 4.25163093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.700281692999994 meters Centerline goodness : 0.997948 with order 1 Centerline is valid? [True, True] Translation: X:53.27, Y:2.85, Z:0.43 [[ 9.94009722e-01 -1.08637715e-01 -1.19381642e-02 5.32715714e+01] [ 1.08629161e-01 9.94081407e-01 -1.36459888e-03 2.84654304e+00] [ 1.20157540e-02 5.95917910e-05 9.99927806e-01 4.26511143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.760281692999996 meters Centerline goodness : 0.997825 with order 1 Centerline is valid? [True, True] Translation: X:53.33, Y:2.85, Z:0.43 [[ 9.94003526e-01 -1.08694421e-01 -1.19379079e-02 5.33294126e+01] [ 1.08685843e-01 9.94075208e-01 -1.36683739e-03 2.85490959e+00] [ 1.20157459e-02 6.11595910e-05 9.99927806e-01 4.28134627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.820281693 meters Centerline goodness : 0.997562 with order 1 Centerline is valid? [True, True] Translation: X:53.39, Y:2.87, Z:0.43 [[ 9.94313189e-01 -1.05824267e-01 -1.19376522e-02 5.33865284e+01] [ 1.05815456e-01 9.94384842e-01 -1.36906749e-03 2.86645547e+00] [ 1.20155009e-02 9.80937603e-05 9.99927806e-01 4.27264983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88028169299999 meters Centerline goodness : 0.997871 with order 1 Centerline is valid? [True, True] Translation: X:53.44, Y:2.87, Z:0.43 [[ 9.94192874e-01 -1.06948716e-01 -1.19373944e-02 5.34434021e+01] [ 1.06939959e-01 9.94264535e-01 -1.37131119e-03 2.87414017e+00] [ 1.20155879e-02 8.67633398e-05 9.99927806e-01 4.25059731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.940281692999996 meters Centerline goodness : 0.998182 with order 1 Centerline is valid? [True, True] Translation: X:53.50, Y:2.88, Z:0.43 [[ 9.93648920e-01 -1.11889789e-01 -1.19372826e-02 5.35015571e+01] [ 1.11881377e-01 9.93720622e-01 -1.37228403e-03 2.88333163e+00] [ 1.20158684e-02 2.80089291e-05 9.99927806e-01 4.31020713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.000281693 meters Centerline goodness : 0.997543 with order 1 Centerline is valid? [True, True] Translation: X:53.56, Y:2.88, Z:0.43 [[ 9.92779327e-01 -1.19359602e-01 -1.19370584e-02 5.35601495e+01] [ 1.19351706e-01 9.92851087e-01 -1.37423136e-03 2.88349119e+00] [ 1.20157491e-02 -6.03998032e-05 9.99927806e-01 4.27073819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06028169299999 meters Centerline goodness : 0.997703 with order 1 Centerline is valid? [True, True] Translation: X:53.62, Y:2.89, Z:0.43 [[ 9.92360106e-01 -1.22796291e-01 -1.19369793e-02 5.36180227e+01] [ 1.22788635e-01 9.92431892e-01 -1.37491827e-03 2.88813298e+00] [ 1.20154738e-02 -1.01311352e-04 9.99927806e-01 4.25893926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.120281692999995 meters Centerline goodness : 0.997567 with order 1 Centerline is valid? [True, True] Translation: X:53.68, Y:2.89, Z:0.42 [[ 9.92179795e-01 -1.24244793e-01 -1.19367292e-02 5.36768309e+01] [ 1.24237216e-01 9.92251590e-01 -1.37708563e-03 2.88571533e+00] [ 1.20153343e-02 -1.16669473e-04 9.99927806e-01 4.23947193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.180281693 meters Centerline goodness : 0.997451 with order 1 Centerline is valid? [True, True] Translation: X:53.74, Y:2.89, Z:0.43 [[ 9.93017359e-01 -1.17362881e-01 -1.19364767e-02 5.37351456e+01] [ 1.17354780e-01 9.93089096e-01 -1.37927139e-03 2.88766015e+00] [ 1.20158601e-02 -3.11621633e-05 9.99927806e-01 4.27205527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24028169299999 meters Centerline goodness : 0.997293 with order 1 Centerline is valid? [True, True] Translation: X:53.79, Y:2.89, Z:0.43 [[ 9.94132519e-01 -1.07508407e-01 -1.19363987e-02 5.37929609e+01] [ 1.07499587e-01 9.94204171e-01 -1.37994581e-03 2.88775322e+00] [ 1.20155732e-02 8.86910725e-05 9.99927806e-01 4.30783859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.300281692999995 meters Centerline goodness : 0.997282 with order 1 Centerline is valid? [True, True] Translation: X:53.85, Y:2.89, Z:0.44 [[ 9.94486440e-01 -1.04183709e-01 -1.19363213e-02 5.38512463e+01] [ 1.04174641e-01 9.94558062e-01 -1.38061542e-03 2.88864711e+00] [ 1.20152022e-02 1.29541332e-04 9.99927806e-01 4.36814666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.360281693 meters Centerline goodness : 0.997030 with order 1 Centerline is valid? [True, True] Translation: X:53.91, Y:2.89, Z:0.44 [[ 9.94273924e-01 -1.06192725e-01 -1.19360750e-02 5.39097473e+01] [ 1.06183777e-01 9.94345560e-01 -1.38274096e-03 2.88912965e+00] [ 1.20154202e-02 1.07405751e-04 9.99927806e-01 4.35557279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42028169299999 meters Centerline goodness : 0.996854 with order 1 Centerline is valid? [True, True] Translation: X:53.97, Y:2.89, Z:0.44 [[ 9.94145542e-01 -1.07387980e-01 -1.19358052e-02 5.39670368e+01] [ 1.07379090e-01 9.94217186e-01 -1.38506652e-03 2.89172656e+00] [ 1.20155221e-02 9.53018101e-05 9.99927806e-01 4.36581697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.480281692999995 meters Centerline goodness : 0.997059 with order 1 Centerline is valid? [True, True] Translation: X:54.03, Y:2.89, Z:0.44 [[ 9.94149568e-01 -1.07350710e-01 -1.19356890e-02 5.40250855e+01] [ 1.07341805e-01 9.94221211e-01 -1.38606715e-03 2.89220027e+00] [ 1.20155104e-02 9.67596669e-05 9.99927806e-01 4.37652954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.540281693 meters Centerline goodness : 0.997225 with order 1 Centerline is valid? [True, True] Translation: X:54.08, Y:2.89, Z:0.44 [[ 9.94141389e-01 -1.07426459e-01 -1.19354275e-02 5.40830762e+01] [ 1.07417532e-01 9.94213029e-01 -1.38831488e-03 2.88962646e+00] [ 1.20154993e-02 9.81071205e-05 9.99927806e-01 4.37782018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60028169299999 meters Centerline goodness : 0.997298 with order 1 Centerline is valid? [True, True] Translation: X:54.14, Y:2.89, Z:0.44 [[ 9.94338904e-01 -1.05582640e-01 -1.19352452e-02 5.41410910e+01] [ 1.05573562e-01 9.94410525e-01 -1.38987990e-03 2.88909658e+00] [ 1.20152807e-02 1.21965307e-04 9.99927806e-01 4.36062402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.660281692999995 meters Centerline goodness : 0.997101 with order 1 Centerline is valid? [True, True] Translation: X:54.20, Y:2.89, Z:0.44 [[ 9.94913087e-01 -1.00027526e-01 -1.19349799e-02 5.41999800e+01] [ 1.00018020e-01 9.94984652e-01 -1.39215452e-03 2.88826965e+00] [ 1.20143756e-02 1.91359681e-04 9.99927806e-01 4.38618751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.720281693 meters Centerline goodness : 0.997376 with order 1 Centerline is valid? [True, True] Translation: X:54.26, Y:2.89, Z:0.44 [[ 9.95951253e-01 -8.90991800e-02 -1.19347057e-02 5.42565904e+01] [ 8.90888616e-02 9.96022706e-01 -1.39450170e-03 2.89136243e+00] [ 1.20114868e-02 3.25606370e-04 9.99927806e-01 4.38611400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.780281693 meters Centerline goodness : 0.997321 with order 1 Centerline is valid? [True, True] Translation: X:54.31, Y:2.90, Z:0.44 [[ 9.96302258e-01 -8.50845275e-02 -1.19345867e-02 5.43144516e+01] [ 8.50739090e-02 9.96373666e-01 -1.39551929e-03 2.89721306e+00] [ 1.20100450e-02 3.75037073e-04 9.99927806e-01 4.40677384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.840281692999994 meters Centerline goodness : 0.997224 with order 1 Centerline is valid? [True, True] Translation: X:54.37, Y:2.90, Z:0.44 [[ 9.95919138e-01 -8.94574954e-02 -1.19343232e-02 5.43716998e+01] [ 8.94471636e-02 9.95990588e-01 -1.39776883e-03 2.90128158e+00] [ 1.20115145e-02 3.24573370e-04 9.99927806e-01 4.37826686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.900281693 meters Centerline goodness : 0.997438 with order 1 Centerline is valid? [True, True] Translation: X:54.43, Y:2.91, Z:0.44 [[ 9.95412696e-01 -9.49270282e-02 -1.19341429e-02 5.44289495e+01] [ 9.49170706e-02 9.95484200e-01 -1.39930651e-03 2.90852189e+00] [ 1.20130827e-02 2.60133581e-04 9.99927806e-01 4.42844353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.960281693 meters Centerline goodness : 0.997133 with order 1 Centerline is valid? [True, True] Translation: X:54.49, Y:2.91, Z:0.44 [[ 9.95092402e-01 -9.82277636e-02 -1.19338809e-02 5.44866966e+01] [ 9.82180164e-02 9.95163935e-01 -1.40153790e-03 2.91221733e+00] [ 1.20138378e-02 2.22537610e-04 9.99927806e-01 4.38303322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.020281692999994 meters Centerline goodness : 0.997744 with order 1 Centerline is valid? [True, True] Translation: X:54.54, Y:2.92, Z:0.44 [[ 9.95244373e-01 -9.66758634e-02 -1.19337997e-02 5.45439112e+01] [ 9.66659965e-02 9.95315889e-01 -1.40222850e-03 2.92100289e+00] [ 1.20134621e-02 2.41967382e-04 9.99927806e-01 4.38479049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.080281692999996 meters Centerline goodness : 0.997702 with order 1 Centerline is valid? [True, True] Translation: X:54.60, Y:2.93, Z:0.45 [[ 9.95642128e-01 -9.24896939e-02 -1.19335407e-02 5.46009455e+01] [ 9.24794999e-02 9.95713598e-01 -1.40442911e-03 2.93132601e+00] [ 1.20122840e-02 2.94700913e-04 9.99927806e-01 4.48207608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.140281693 meters Centerline goodness : 0.998046 with order 1 Centerline is valid? [True, True] Translation: X:54.66, Y:2.95, Z:0.45 [[ 9.96216050e-01 -8.60881825e-02 -1.19334607e-02 5.46575763e+01] [ 8.60775212e-02 9.96287452e-01 -1.40510865e-03 2.94640050e+00] [ 1.20101204e-02 3.72589068e-04 9.99927806e-01 4.53151187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.200281692999994 meters Centerline goodness : 0.998100 with order 1 Centerline is valid? [True, True] Translation: X:54.71, Y:2.96, Z:0.46 [[ 9.96435662e-01 -8.35079016e-02 -1.19331973e-02 5.47131560e+01] [ 8.34970287e-02 9.96507032e-01 -1.40734227e-03 2.95797896e+00] [ 1.20090392e-02 4.05939510e-04 9.99927806e-01 4.55466875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.260281692999996 meters Centerline goodness : 0.998211 with order 1 Centerline is valid? [True, True] Translation: X:54.77, Y:2.97, Z:0.45 [[ 9.96460217e-01 -8.32144041e-02 -1.19330840e-02 5.47702170e+01] [ 8.32034987e-02 9.96531582e-01 -1.40830196e-03 2.97288339e+00] [ 1.20088861e-02 4.10442536e-04 9.99927806e-01 4.54854751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.320281693 meters Centerline goodness : 0.997913 with order 1 Centerline is valid? [True, True] Translation: X:54.83, Y:2.99, Z:0.45 [[ 9.96373850e-01 -8.42422604e-02 -1.19328158e-02 5.48282491e+01] [ 8.42314015e-02 9.96445222e-01 -1.41057127e-03 2.98571315e+00] [ 1.20092270e-02 4.00338534e-04 9.99927806e-01 4.51364743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38028169299999 meters Centerline goodness : 0.998297 with order 1 Centerline is valid? [True, True] Translation: X:54.88, Y:3.00, Z:0.45 [[ 9.96392790e-01 -8.40179703e-02 -1.19326841e-02 5.48839348e+01] [ 8.40070820e-02 9.96464158e-01 -1.41168405e-03 3.00036620e+00] [ 1.20090989e-02 4.04161831e-04 9.99927806e-01 4.48674376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.440281692999996 meters Centerline goodness : 0.998138 with order 1 Centerline is valid? [True, True] Translation: X:54.94, Y:3.01, Z:0.45 [[ 9.96297629e-01 -8.51390020e-02 -1.19325008e-02 5.49411916e+01] [ 8.51281755e-02 9.96369006e-01 -1.41323168e-03 3.01232109e+00] [ 1.20094951e-02 3.92207347e-04 9.99927806e-01 4.50699649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.500281693 meters Centerline goodness : 0.998123 with order 1 Centerline is valid? [True, True] Translation: X:55.00, Y:3.03, Z:0.45 [[ 9.95724294e-01 -9.16010472e-02 -1.19322378e-02 5.49984404e+01] [ 9.15906574e-02 9.95795736e-01 -1.41544891e-03 3.02609713e+00] [ 1.20117281e-02 3.16515358e-04 9.99927806e-01 4.48996769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56028169299999 meters Centerline goodness : 0.998088 with order 1 Centerline is valid? [True, True] Translation: X:55.06, Y:3.04, Z:0.45 [[ 9.95143757e-01 -9.77063478e-02 -1.19319702e-02 5.50559865e+01] [ 9.76963694e-02 9.95215258e-01 -1.41770170e-03 3.03545746e+00] [ 1.20133972e-02 2.45106828e-04 9.99927806e-01 4.50689880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.620281692999995 meters Centerline goodness : 0.998231 with order 1 Centerline is valid? [True, True] Translation: X:55.11, Y:3.04, Z:0.46 [[ 9.93962975e-01 -1.09065292e-01 -1.19317029e-02 5.51124522e+01] [ 1.09056103e-01 9.94034582e-01 -1.41994708e-03 3.04047153e+00] [ 1.20153923e-02 1.10149793e-04 9.99927807e-01 4.56074068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.680281693 meters Centerline goodness : 0.998374 with order 1 Centerline is valid? [True, True] Translation: X:55.17, Y:3.05, Z:0.46 [[ 9.93653793e-01 -1.11847118e-01 -1.19315875e-02 5.51702253e+01] [ 1.11838119e-01 9.93725423e-01 -1.42091633e-03 3.04728832e+00] [ 1.20156472e-02 7.74926038e-05 9.99927807e-01 4.57144392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74028169299999 meters Centerline goodness : 0.998346 with order 1 Centerline is valid? [True, True] Translation: X:55.23, Y:3.05, Z:0.45 [[ 9.93417758e-01 -1.13924545e-01 -1.19313098e-02 5.52268004e+01] [ 1.13915668e-01 9.93489404e-01 -1.42324455e-03 3.05409225e+00] [ 1.20157723e-02 5.47132926e-05 9.99927807e-01 4.54901817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.800281692999995 meters Centerline goodness : 0.998411 with order 1 Centerline is valid? [True, True] Translation: X:55.28, Y:3.06, Z:0.45 [[ 9.93530255e-01 -1.12939269e-01 -1.19311899e-02 5.52834540e+01] [ 1.12930308e-01 9.93601891e-01 -1.42424905e-03 3.05960046e+00] [ 1.20157065e-02 6.76415778e-05 9.99927807e-01 4.52337572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.860281693 meters Centerline goodness : 0.998594 with order 1 Centerline is valid? [True, True] Translation: X:55.34, Y:3.07, Z:0.45 [[ 9.93558774e-01 -1.12688127e-01 -1.19310047e-02 5.53410898e+01] [ 1.12679129e-01 9.93630405e-01 -1.42579893e-03 3.06583093e+00] [ 1.20156796e-02 7.22398197e-05 9.99927807e-01 4.54124548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92028169299999 meters Centerline goodness : 0.998420 with order 1 Centerline is valid? [True, True] Translation: X:55.40, Y:3.07, Z:0.46 [[ 9.93534505e-01 -1.12901927e-01 -1.19307504e-02 5.53983180e+01] [ 1.12892920e-01 9.93606134e-01 -1.42792319e-03 3.07088127e+00] [ 1.20156821e-02 7.17937086e-05 9.99927807e-01 4.62228730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.980281692999995 meters Centerline goodness : 0.998732 with order 1 Centerline is valid? [True, True] Translation: X:55.46, Y:3.08, Z:0.46 [[ 9.93945399e-01 -1.09225491e-01 -1.19304883e-02 5.54555964e+01] [ 1.09216192e-01 9.94016991e-01 -1.43011027e-03 3.08111435e+00] [ 1.20153125e-02 1.18449028e-04 9.99927807e-01 4.57509211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.040281693 meters Centerline goodness : 0.998342 with order 1 Centerline is valid? [True, True] Translation: X:55.51, Y:3.09, Z:0.46 [[ 9.94489965e-01 -1.04150733e-01 -1.19304072e-02 5.55123710e+01] [ 1.04141061e-01 9.94561508e-01 -1.43078628e-03 3.09079885e+00] [ 1.20145412e-02 1.80457341e-04 9.99927807e-01 4.57293546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10028169299999 meters Centerline goodness : 0.998205 with order 1 Centerline is valid? [True, True] Translation: X:55.57, Y:3.11, Z:0.45 [[ 9.95575604e-01 -9.32034813e-02 -1.19301423e-02 5.55689313e+01] [ 9.31929965e-02 9.95647032e-01 -1.43299138e-03 3.10696793e+00] [ 1.20117706e-02 3.14845551e-04 9.99927807e-01 4.53898921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.160281692999995 meters Centerline goodness : 0.998423 with order 1 Centerline is valid? [True, True] Translation: X:55.63, Y:3.12, Z:0.46 [[ 9.95725702e-01 -9.15860463e-02 -1.19298749e-02 5.56262972e+01] [ 9.15754188e-02 9.95797109e-01 -1.43521409e-03 3.11710417e+00] [ 1.20111805e-02 3.36596264e-04 9.99927807e-01 4.58713200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.220281693 meters Centerline goodness : 0.998835 with order 1 Centerline is valid? [True, True] Translation: X:55.68, Y:3.13, Z:0.46 [[ 9.95393183e-01 -9.51319692e-02 -1.19297920e-02 5.56835509e+01] [ 9.51215879e-02 9.95464626e-01 -1.43590263e-03 3.12928767e+00] [ 1.20122862e-02 2.94506925e-04 9.99927807e-01 4.64034820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.280281693 meters Centerline goodness : 0.998432 with order 1 Centerline is valid? [True, True] Translation: X:55.74, Y:3.14, Z:0.46 [[ 9.95039270e-01 -9.87650580e-02 -1.19295331e-02 5.57403970e+01] [ 9.87549118e-02 9.95110747e-01 -1.43805074e-03 3.13855571e+00] [ 1.20132358e-02 2.52816972e-04 9.99927807e-01 4.61001422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.340281692999994 meters Centerline goodness : 0.998451 with order 1 Centerline is valid? [True, True] Translation: X:55.80, Y:3.15, Z:0.46 [[ 9.94617505e-01 -1.02925761e-01 -1.19292615e-02 5.57982834e+01] [ 1.02915887e-01 9.94689020e-01 -1.44030008e-03 3.14718573e+00] [ 1.20141494e-02 2.04837142e-04 9.99927807e-01 4.57550658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.400281693 meters Centerline goodness : 0.998528 with order 1 Centerline is valid? [True, True] Translation: X:55.86, Y:3.15, Z:0.46 [[ 9.94142125e-01 -1.07420361e-01 -1.19290083e-02 5.58550296e+01] [ 1.07410785e-01 9.94213681e-01 -1.44239415e-03 3.15339136e+00] [ 1.20149258e-02 1.52640640e-04 9.99927807e-01 4.58369922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.460281693 meters Centerline goodness : 0.998511 with order 1 Centerline is valid? [True, True] Translation: X:55.91, Y:3.16, Z:0.46 [[ 9.93293935e-01 -1.14999393e-01 -1.19288916e-02 5.59120633e+01] [ 1.14990351e-01 9.93365560e-01 -1.44335891e-03 3.16003199e+00] [ 1.20157355e-02 6.19722137e-05 9.99927807e-01 4.63952266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.520281692999994 meters Centerline goodness : 0.998639 with order 1 Centerline is valid? [True, True] Translation: X:55.97, Y:3.16, Z:0.46 [[ 9.92563928e-01 -1.21138570e-01 -1.19287747e-02 5.59702387e+01] [ 1.21129960e-01 9.92635606e-01 -1.44432418e-03 3.16422472e+00] [ 1.20158899e-02 -1.13479233e-05 9.99927807e-01 4.59436845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.580281692999996 meters Centerline goodness : 0.998730 with order 1 Centerline is valid? [True, True] Translation: X:56.03, Y:3.17, Z:0.46 [[ 9.92019182e-01 -1.25521529e-01 -1.19285086e-02 5.60281022e+01] [ 1.25513209e-01 9.92090894e-01 -1.44651894e-03 3.16966478e+00] [ 1.20157340e-02 -6.22108564e-05 9.99927807e-01 4.60770502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.640281693 meters Centerline goodness : 0.998469 with order 1 Centerline is valid? [True, True] Translation: X:56.09, Y:3.17, Z:0.46 [[ 9.91678504e-01 -1.28185261e-01 -1.19282396e-02 5.60858296e+01] [ 1.28177107e-01 9.91750236e-01 -1.44873382e-03 3.16905131e+00] [ 1.20155407e-02 -9.22490514e-05 9.99927807e-01 4.60675332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.700281692999994 meters Centerline goodness : 0.998372 with order 1 Centerline is valid? [True, True] Translation: X:56.14, Y:3.17, Z:0.46 [[ 9.91656353e-01 -1.28356533e-01 -1.19280586e-02 5.61426373e+01] [ 1.28348374e-01 9.91728084e-01 -1.45022234e-03 3.17319007e+00] [ 1.20155362e-02 -9.28247237e-05 9.99927807e-01 4.59538483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.760281692999996 meters Centerline goodness : 0.998282 with order 1 Centerline is valid? [True, True] Translation: X:56.20, Y:3.17, Z:0.46 [[ 9.91618796e-01 -1.28646370e-01 -1.19278764e-02 5.62004836e+01] [ 1.28638214e-01 9.91690528e-01 -1.45171904e-03 3.17449397e+00] [ 1.20155204e-02 -9.48288360e-05 9.99927807e-01 4.58459839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.820281693 meters Centerline goodness : 0.998396 with order 1 Centerline is valid? [True, True] Translation: X:56.26, Y:3.18, Z:0.46 [[ 9.91919429e-01 -1.26307476e-01 -1.19276195e-02 5.62587046e+01] [ 1.26299126e-01 9.91991138e-01 -1.45382694e-03 3.17779306e+00] [ 1.20157220e-02 -6.43687286e-05 9.99927807e-01 4.62532011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88028169299999 meters Centerline goodness : 0.998239 with order 1 Centerline is valid? [True, True] Translation: X:56.32, Y:3.18, Z:0.47 [[ 9.92736285e-01 -1.19718031e-01 -1.19273607e-02 5.63170121e+01] [ 1.19709179e-01 9.92807933e-01 -1.45594665e-03 3.18221274e+00] [ 1.20158814e-02 1.75565076e-05 9.99927807e-01 4.66137674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.940281692999996 meters Centerline goodness : 0.998160 with order 1 Centerline is valid? [True, True] Translation: X:56.37, Y:3.19, Z:0.47 [[ 9.93326153e-01 -1.14720957e-01 -1.19271329e-02 5.63726744e+01] [ 1.14711722e-01 9.93397753e-01 -1.45781052e-03 3.19457893e+00] [ 1.20156285e-02 7.98993575e-05 9.99927807e-01 4.72465998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.000281693 meters Centerline goodness : 0.998352 with order 1 Centerline is valid? [True, True] Translation: X:56.43, Y:3.21, Z:0.47 [[ 9.93575005e-01 -1.12545352e-01 -1.19269535e-02 5.64296549e+01] [ 1.12535943e-01 9.93646583e-01 -1.45927689e-03 3.20560769e+00] [ 1.20154114e-02 1.07690085e-04 9.99927807e-01 4.71449188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06028169299999 meters Centerline goodness : 0.998380 with order 1 Centerline is valid? [True, True] Translation: X:56.49, Y:3.22, Z:0.47 [[ 9.93703708e-01 -1.11403298e-01 -1.19266883e-02 5.64862182e+01] [ 1.11393781e-01 9.93775271e-01 -1.46144158e-03 3.21702822e+00] [ 1.20152573e-02 1.23681023e-04 9.99927807e-01 4.72936558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.120281692999995 meters Centerline goodness : 0.998433 with order 1 Centerline is valid? [True, True] Translation: X:56.54, Y:3.23, Z:0.48 [[ 9.93397627e-01 -1.14100461e-01 -1.19264156e-02 5.65415373e+01] [ 1.14091111e-01 9.93469212e-01 -1.46366328e-03 3.22974690e+00] [ 1.20155314e-02 9.33016219e-05 9.99927807e-01 4.77589411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.180281693 meters Centerline goodness : 0.998147 with order 1 Centerline is valid? [True, True] Translation: X:56.60, Y:3.24, Z:0.47 [[ 9.92824881e-01 -1.18981171e-01 -1.19262972e-02 5.65985755e+01] [ 1.18972161e-01 9.92896510e-01 -1.46462750e-03 3.24025980e+00] [ 1.20158420e-02 3.52212728e-05 9.99927807e-01 4.70313713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24028169299999 meters Centerline goodness : 0.998364 with order 1 Centerline is valid? [True, True] Translation: X:56.66, Y:3.25, Z:0.47 [[ 9.91919492e-01 -1.26307133e-01 -1.19260282e-02 5.66556307e+01] [ 1.26298626e-01 9.91991182e-01 -1.46681482e-03 3.25021682e+00] [ 1.20157840e-02 -5.12787588e-05 9.99927807e-01 4.65702451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.300281692999995 meters Centerline goodness : 0.998237 with order 1 Centerline is valid? [True, True] Translation: X:56.71, Y:3.25, Z:0.47 [[ 9.90760007e-01 -1.35101368e-01 -1.19259449e-02 5.67133059e+01] [ 1.35093489e-01 9.90831770e-01 -1.46749157e-03 3.25425226e+00] [ 1.20148652e-02 -1.57185546e-04 9.99927807e-01 4.67945122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.360281693 meters Centerline goodness : 0.998256 with order 1 Centerline is valid? [True, True] Translation: X:56.77, Y:3.25, Z:0.47 [[ 9.88973865e-01 -1.47609190e-01 -1.19256814e-02 5.67716310e+01] [ 1.47602193e-01 9.89045718e-01 -1.46962980e-03 3.25159658e+00] [ 1.20119750e-02 -3.06831256e-04 9.99927807e-01 4.66905238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42028169299999 meters Centerline goodness : 0.998315 with order 1 Centerline is valid? [True, True] Translation: X:56.83, Y:3.25, Z:0.47 [[ 9.88443849e-01 -1.51117643e-01 -1.19254152e-02 5.68309999e+01] [ 1.51110875e-01 9.88515724e-01 -1.47178679e-03 3.24836488e+00] [ 1.20108734e-02 -3.47281329e-04 9.99927807e-01 4.72286179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.480281692999995 meters Centerline goodness : 0.998348 with order 1 Centerline is valid? [True, True] Translation: X:56.89, Y:3.25, Z:0.48 [[ 9.88796924e-01 -1.48789898e-01 -1.19251836e-02 5.68894284e+01] [ 1.48782938e-01 9.88868781e-01 -1.47366101e-03 3.24504354e+00] [ 1.20117076e-02 -3.17112376e-04 9.99927807e-01 4.76444149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.540281693 meters Centerline goodness : 0.998617 with order 1 Centerline is valid? [True, True] Translation: X:56.95, Y:3.25, Z:0.48 [[ 9.89334322e-01 -1.45173675e-01 -1.19249192e-02 5.69471809e+01] [ 1.45166427e-01 9.89406150e-01 -1.47579727e-03 3.24744941e+00] [ 1.20128353e-02 -2.71041018e-04 9.99927807e-01 4.77353379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60028169299999 meters Centerline goodness : 0.998385 with order 1 Centerline is valid? [True, True] Translation: X:57.01, Y:3.25, Z:0.48 [[ 9.89782385e-01 -1.42086709e-01 -1.19246520e-02 5.70053211e+01] [ 1.42079211e-01 9.89854188e-01 -1.47795309e-03 3.25046051e+00] [ 1.20136642e-02 -2.31393208e-04 9.99927807e-01 4.77754655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.660281692999995 meters Centerline goodness : 0.998204 with order 1 Centerline is valid? [True, True] Translation: X:57.06, Y:3.26, Z:0.48 [[ 9.90260685e-01 -1.38714040e-01 -1.19243771e-02 5.70619829e+01] [ 1.38706271e-01 9.90332459e-01 -1.48016762e-03 3.25582590e+00] [ 1.20144178e-02 -1.88234085e-04 9.99927807e-01 4.77628499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.720281693 meters Centerline goodness : 0.998214 with order 1 Centerline is valid? [True, True] Translation: X:57.12, Y:3.26, Z:0.48 [[ 9.91070178e-01 -1.32807057e-01 -1.19242581e-02 5.71191123e+01] [ 1.32798848e-01 9.91141903e-01 -1.48112608e-03 3.26426675e+00] [ 1.20153358e-02 -1.15627850e-04 9.99927807e-01 4.76728869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.780281693 meters Centerline goodness : 0.998228 with order 1 Centerline is valid? [True, True] Translation: X:57.17, Y:3.27, Z:0.48 [[ 9.91678193e-01 -1.28188063e-01 -1.19239804e-02 5.71749804e+01] [ 1.28179493e-01 9.91749876e-01 -1.48335834e-03 3.27341825e+00] [ 1.20157549e-02 -5.73956334e-05 9.99927807e-01 4.76793173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.840281692999994 meters Centerline goodness : 0.998268 with order 1 Centerline is valid? [True, True] Translation: X:57.23, Y:3.28, Z:0.48 [[ 9.92216895e-01 -1.23949401e-01 -1.19238604e-02 5.72324278e+01] [ 1.23940514e-01 9.92288540e-01 -1.48432211e-03 3.28258591e+00] [ 1.20158909e-02 -5.07991096e-06 9.99927807e-01 4.78386171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.900281693 meters Centerline goodness : 0.998496 with order 1 Centerline is valid? [True, True] Translation: X:57.29, Y:3.29, Z:0.48 [[ 9.91851231e-01 -1.26842281e-01 -1.19235861e-02 5.72888534e+01] [ 1.26833575e-01 9.91922897e-01 -1.48652247e-03 3.28914355e+00] [ 1.20158320e-02 -3.79019182e-05 9.99927807e-01 4.75088088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.960281693 meters Centerline goodness : 0.998523 with order 1 Centerline is valid? [True, True] Translation: X:57.35, Y:3.29, Z:0.48 [[ 9.91478714e-01 -1.29721984e-01 -1.19233992e-02 5.73453892e+01] [ 1.29713469e-01 9.91550403e-01 -1.48801986e-03 3.29242369e+00] [ 1.20156802e-02 -7.12854625e-05 9.99927807e-01 4.77976667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.020281693 meters Centerline goodness : 0.998012 with order 1 Centerline is valid? [True, True] Translation: X:57.40, Y:3.30, Z:0.48 [[ 9.91874022e-01 -1.26663966e-01 -1.19232814e-02 5.74028479e+01] [ 1.26655218e-01 9.91945683e-01 -1.48896334e-03 3.30232755e+00] [ 1.20158455e-02 -3.32817458e-05 9.99927807e-01 4.80991044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.080281693 meters Centerline goodness : 0.998526 with order 1 Centerline is valid? [True, True] Translation: X:57.46, Y:3.31, Z:0.48 [[ 9.92505443e-01 -1.21617384e-01 -1.19230011e-02 5.74600470e+01] [ 1.21608245e-01 9.92577055e-01 -1.49120471e-03 3.31389567e+00] [ 1.20158537e-02 3.00935526e-05 9.99927807e-01 4.76590029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.140281693 meters Centerline goodness : 0.998459 with order 1 Centerline is valid? [True, True] Translation: X:57.52, Y:3.32, Z:0.48 [[ 9.92466222e-01 -1.21937043e-01 -1.19229147e-02 5.75171047e+01] [ 1.21927919e-01 9.92537836e-01 -1.49189463e-03 3.32417769e+00] [ 1.20158612e-02 2.69188448e-05 9.99927807e-01 4.79505606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20028169300001 meters Centerline goodness : 0.998094 with order 1 Centerline is valid? [True, True] Translation: X:57.57, Y:3.33, Z:0.48 [[ 9.91819686e-01 -1.27088771e-01 -1.19228287e-02 5.75737966e+01] [ 1.27080011e-01 9.91891346e-01 -1.49258193e-03 3.33396024e+00] [ 1.20158410e-02 -3.47810596e-05 9.99927807e-01 4.83516012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.260281693 meters Centerline goodness : 0.998487 with order 1 Centerline is valid? [True, True] Translation: X:57.63, Y:3.35, Z:0.49 [[ 9.91110510e-01 -1.32505884e-01 -1.19225561e-02 5.76307508e+01] [ 1.32497489e-01 9.91182214e-01 -1.49475614e-03 3.34644248e+00] [ 1.20154895e-02 -9.82402276e-05 9.99927807e-01 4.86753492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.320281693 meters Centerline goodness : 0.998477 with order 1 Centerline is valid? [True, True] Translation: X:57.69, Y:3.36, Z:0.49 [[ 9.90812979e-01 -1.34712657e-01 -1.19222759e-02 5.76872904e+01] [ 1.34704395e-01 9.90884698e-01 -1.49698772e-03 3.35571836e+00] [ 1.20152640e-02 -1.22748106e-04 9.99927807e-01 4.85101920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.380281693 meters Centerline goodness : 0.998278 with order 1 Centerline is valid? [True, True] Translation: X:57.75, Y:3.36, Z:0.48 [[ 9.90588799e-01 -1.36351364e-01 -1.19221547e-02 5.77451084e+01] [ 1.36343209e-01 9.90660530e-01 -1.49795246e-03 3.36350437e+00] [ 1.20150559e-02 -1.41649902e-04 9.99927807e-01 4.84467415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.440281693 meters Centerline goodness : 0.998485 with order 1 Centerline is valid? [True, True] Translation: X:57.80, Y:3.37, Z:0.49 [[ 9.90386920e-01 -1.37810079e-01 -1.19218771e-02 5.78023694e+01] [ 1.37802003e-01 9.90458660e-01 -1.50015869e-03 3.36882094e+00] [ 1.20148634e-02 -1.57120995e-04 9.99927807e-01 4.86397577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.500281693 meters Centerline goodness : 0.998673 with order 1 Centerline is valid? [True, True] Translation: X:57.86, Y:3.37, Z:0.49 [[ 9.90376703e-01 -1.37883505e-01 -1.19215971e-02 5.78602587e+01] [ 1.37875408e-01 9.90448441e-01 -1.50238022e-03 3.37467299e+00] [ 1.20148807e-02 -1.55772699e-04 9.99927807e-01 4.86950318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56028169300001 meters Centerline goodness : 0.998546 with order 1 Centerline is valid? [True, True] Translation: X:57.92, Y:3.38, Z:0.49 [[ 9.90892393e-01 -1.34127357e-01 -1.19213107e-02 5.79173305e+01] [ 1.34118961e-01 9.90964096e-01 -1.50464978e-03 3.37825895e+00] [ 1.20154055e-02 -1.07927774e-04 9.99927807e-01 4.87203747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62028169300001 meters Centerline goodness : 0.998800 with order 1 Centerline is valid? [True, True] Translation: X:57.98, Y:3.38, Z:0.49 [[ 9.90826392e-01 -1.34614072e-01 -1.19211142e-02 5.79753569e+01] [ 1.34605692e-01 9.90898097e-01 -1.50620486e-03 3.38104316e+00] [ 1.20153657e-02 -1.12262298e-04 9.99927807e-01 4.88185269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.680281693 meters Centerline goodness : 0.998686 with order 1 Centerline is valid? [True, True] Translation: X:58.03, Y:3.38, Z:0.49 [[ 9.91058806e-01 -1.32892198e-01 -1.19208287e-02 5.80331911e+01] [ 1.32883666e-01 9.91130494e-01 -1.50846073e-03 3.38134563e+00] [ 1.20155595e-02 -8.91101262e-05 9.99927807e-01 4.88584043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.740281693 meters Centerline goodness : 0.998730 with order 1 Centerline is valid? [True, True] Translation: X:58.09, Y:3.39, Z:0.49 [[ 9.91079877e-01 -1.32734977e-01 -1.19207059e-02 5.80912916e+01] [ 1.32726422e-01 9.91151562e-01 -1.50943082e-03 3.38605759e+00] [ 1.20155805e-02 -8.62261232e-05 9.99927807e-01 4.91124503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.800281693 meters Centerline goodness : 0.998680 with order 1 Centerline is valid? [True, True] Translation: X:58.15, Y:3.39, Z:0.49 [[ 9.90374167e-01 -1.37901825e-01 -1.19204310e-02 5.81499627e+01] [ 1.37893619e-01 9.90445892e-01 -1.51159848e-03 3.38760336e+00] [ 1.20149941e-02 -1.46703278e-04 9.99927807e-01 4.90107428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.860281693 meters Centerline goodness : 0.998533 with order 1 Centerline is valid? [True, True] Translation: X:58.21, Y:3.39, Z:0.49 [[ 9.89824430e-01 -1.41793893e-01 -1.19201450e-02 5.82076642e+01] [ 1.41785941e-01 9.89896184e-01 -1.51385070e-03 3.39036339e+00] [ 1.20143608e-02 -1.91662574e-04 9.99927807e-01 4.89405842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.920281693 meters Centerline goodness : 0.998704 with order 1 Centerline is valid? [True, True] Translation: X:58.26, Y:3.40, Z:0.49 [[ 9.90153981e-01 -1.39474048e-01 -1.19198612e-02 5.82648045e+01] [ 1.39465901e-01 9.90225714e-01 -1.51608219e-03 3.39660242e+00] [ 1.20148071e-02 -1.61259363e-04 9.99927807e-01 4.93863712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98028169300001 meters Centerline goodness : 0.998405 with order 1 Centerline is valid? [True, True] Translation: X:58.32, Y:3.40, Z:0.49 [[ 9.90987978e-01 -1.33419453e-01 -1.19195777e-02 5.83216496e+01] [ 1.33410841e-01 9.91059656e-01 -1.51830730e-03 3.40377116e+00] [ 1.20155843e-02 -8.55766123e-05 9.99927807e-01 4.91288604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.040281693 meters Centerline goodness : 0.998239 with order 1 Centerline is valid? [True, True] Translation: X:58.38, Y:3.41, Z:0.49 [[ 9.91484607e-01 -1.29677294e-01 -1.19194545e-02 5.83786445e+01] [ 1.29668400e-01 9.91556250e-01 -1.51927379e-03 3.41398079e+00] [ 1.20158250e-02 -3.92400275e-05 9.99927807e-01 4.91184772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.100281693 meters Centerline goodness : 0.998412 with order 1 Centerline is valid? [True, True] Translation: X:58.44, Y:3.42, Z:0.49 [[ 9.90764314e-01 -1.35070379e-01 -1.19191769e-02 5.84361563e+01] [ 1.35061849e-01 9.90836002e-01 -1.52144877e-03 3.42327735e+00] [ 1.20154523e-02 -1.02428917e-04 9.99927807e-01 4.94201346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.160281693 meters Centerline goodness : 0.998110 with order 1 Centerline is valid? [True, True] Translation: X:58.49, Y:3.43, Z:0.49 [[ 9.90208667e-01 -1.39085355e-01 -1.19188879e-02 5.84936051e+01] [ 1.39077089e-01 9.90280385e-01 -1.52370928e-03 3.42977784e+00] [ 1.20149666e-02 -1.48854097e-04 9.99927807e-01 4.90801003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.220281693 meters Centerline goodness : 0.998200 with order 1 Centerline is valid? [True, True] Translation: X:58.55, Y:3.44, Z:0.49 [[ 9.90014044e-01 -1.40463997e-01 -1.19187988e-02 5.85511159e+01] [ 1.40455822e-01 9.90085773e-01 -1.52440636e-03 3.43758098e+00] [ 1.20147573e-02 -1.64880971e-04 9.99927807e-01 4.93290001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.280281693 meters Centerline goodness : 0.998366 with order 1 Centerline is valid? [True, True] Translation: X:58.61, Y:3.45, Z:0.50 [[ 9.90184819e-01 -1.39255067e-01 -1.19185106e-02 5.86080358e+01] [ 1.39246777e-01 9.90256535e-01 -1.52665623e-03 3.44521703e+00] [ 1.20149776e-02 -1.47942353e-04 9.99927807e-01 4.98419471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34028169300001 meters Centerline goodness : 0.998125 with order 1 Centerline is valid? [True, True] Translation: X:58.67, Y:3.45, Z:0.49 [[ 9.90566317e-01 -1.36514915e-01 -1.19184216e-02 5.86656703e+01] [ 1.36506418e-01 9.90638009e-01 -1.52735086e-03 3.45119956e+00] [ 1.20153476e-02 -1.13998721e-04 9.99927807e-01 4.94712833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.400281693 meters Centerline goodness : 0.998525 with order 1 Centerline is valid? [True, True] Translation: X:58.72, Y:3.46, Z:0.50 [[ 9.91680411e-01 -1.28171434e-01 -1.19183348e-02 5.87230842e+01] [ 1.28162326e-01 9.91752027e-01 -1.52802799e-03 3.46151476e+00] [ 1.20158822e-02 -1.21660818e-05 9.99927807e-01 4.98413231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.460281693 meters Centerline goodness : 0.998206 with order 1 Centerline is valid? [True, True] Translation: X:58.78, Y:3.47, Z:0.50 [[ 9.92144783e-01 -1.24525860e-01 -1.19180603e-02 5.87802727e+01] [ 1.24516463e-01 9.92216362e-01 -1.53016552e-03 3.47010083e+00] [ 1.20158396e-02 3.41510171e-05 9.99927807e-01 5.01402112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.520281693 meters Centerline goodness : 0.998421 with order 1 Centerline is valid? [True, True] Translation: X:58.84, Y:3.48, Z:0.50 [[ 9.93183738e-01 -1.15948391e-01 -1.19177794e-02 5.88364510e+01] [ 1.15938350e-01 9.93255230e-01 -1.53235028e-03 3.48048361e+00] [ 1.20150703e-02 1.40177698e-04 9.99927807e-01 5.03908958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.580281693 meters Centerline goodness : 0.998588 with order 1 Centerline is valid? [True, True] Translation: X:58.89, Y:3.49, Z:0.51 [[ 9.93545935e-01 -1.12802678e-01 -1.19176577e-02 5.88924793e+01] [ 1.12792399e-01 9.93617393e-01 -1.53329652e-03 3.49199328e+00] [ 1.20145519e-02 1.79179335e-04 9.99927807e-01 5.05698454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.640281693 meters Centerline goodness : 0.998426 with order 1 Centerline is valid? [True, True] Translation: X:58.95, Y:3.50, Z:0.50 [[ 9.93409931e-01 -1.13994220e-01 -1.19174667e-02 5.89492390e+01] [ 1.13984009e-01 9.93481399e-01 -1.53477907e-03 3.50344112e+00] [ 1.20147375e-02 1.66264143e-04 9.99927807e-01 5.04754328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70028169300001 meters Centerline goodness : 0.998421 with order 1 Centerline is valid? [True, True] Translation: X:59.01, Y:3.52, Z:0.50 [[ 9.93279216e-01 -1.15127668e-01 -1.19171790e-02 5.90064563e+01] [ 1.15117512e-01 9.93350691e-01 -1.53700970e-03 3.51547566e+00] [ 1.20148904e-02 1.54803790e-04 9.99927807e-01 5.03410299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.760281693 meters Centerline goodness : 0.998635 with order 1 Centerline is valid? [True, True] Translation: X:59.06, Y:3.53, Z:0.50 [[ 9.93492708e-01 -1.13270593e-01 -1.19168925e-02 5.90623090e+01] [ 1.13260276e-01 9.93564160e-01 -1.53922837e-03 3.52671419e+00] [ 1.20145466e-02 1.79501632e-04 9.99927807e-01 5.01874063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.820281693 meters Centerline goodness : 0.998397 with order 1 Centerline is valid? [True, True] Translation: X:59.12, Y:3.54, Z:0.50 [[ 9.94117604e-01 -1.07648405e-01 -1.19167681e-02 5.91189987e+01] [ 1.07637673e-01 9.94188996e-01 -1.54019039e-03 3.54015525e+00] [ 1.20133188e-02 2.48437184e-04 9.99927807e-01 5.03119596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.880281693 meters Centerline goodness : 0.998259 with order 1 Centerline is valid? [True, True] Translation: X:59.18, Y:3.56, Z:0.51 [[ 9.94668075e-01 -1.02437385e-01 -1.19164977e-02 5.91760401e+01] [ 1.02426254e-01 9.94739405e-01 -1.54228013e-03 3.55736483e+00] [ 1.20117969e-02 3.13494596e-04 9.99927807e-01 5.09207415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.940281693 meters Centerline goodness : 0.998714 with order 1 Centerline is valid? [True, True] Translation: X:59.23, Y:3.57, Z:0.51 [[ 9.94710591e-01 -1.02023734e-01 -1.19162702e-02 5.92318014e+01] [ 1.02012552e-01 9.94781913e-01 -1.54403587e-03 3.57004224e+00] [ 1.20116183e-02 3.20259703e-04 9.99927807e-01 5.08814276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.000281693 meters Centerline goodness : 0.998408 with order 1 Centerline is valid? [True, True] Translation: X:59.29, Y:3.58, Z:0.51 [[ 9.94148962e-01 -1.07358501e-01 -1.19161477e-02 5.92891899e+01] [ 1.07347691e-01 9.94220341e-01 -1.54498067e-03 3.58004027e+00] [ 1.20131432e-02 2.56769998e-04 9.99927807e-01 5.06661270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06028169300001 meters Centerline goodness : 0.998715 with order 1 Centerline is valid? [True, True] Translation: X:59.35, Y:3.59, Z:0.51 [[ 9.93807037e-01 -1.10478894e-01 -1.19158643e-02 5.93460269e+01] [ 1.10468281e-01 9.93878446e-01 -1.54716352e-03 3.59098872e+00] [ 1.20138496e-02 2.21256944e-04 9.99927807e-01 5.05907095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12028169300001 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:59.40, Y:3.60, Z:0.51 [[ 9.93259460e-01 -1.15298150e-01 -1.19155826e-02 5.94019716e+01] [ 1.15287858e-01 9.93330916e-01 -1.54932960e-03 3.60304837e+00] [ 1.20147514e-02 1.65164289e-04 9.99927807e-01 5.07684078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.180281693 meters Centerline goodness : 0.998886 with order 1 Centerline is valid? [True, True] Translation: X:59.46, Y:3.61, Z:0.51 [[ 9.93019681e-01 -1.17345370e-01 -1.19154607e-02 5.94593687e+01] [ 1.17335214e-01 9.93091156e-01 -1.55026625e-03 3.61363882e+00] [ 1.20150552e-02 1.41341758e-04 9.99927807e-01 5.08733153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.240281693 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:59.52, Y:3.62, Z:0.51 [[ 9.92569672e-01 -1.21092837e-01 -1.19151862e-02 5.95163823e+01] [ 1.21082926e-01 9.92641181e-01 -1.55237340e-03 3.62204533e+00] [ 1.20154858e-02 9.81131500e-05 9.99927807e-01 5.09726783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.300281693 meters Centerline goodness : 0.998897 with order 1 Centerline is valid? [True, True] Translation: X:59.57, Y:3.63, Z:0.51 [[ 9.92234152e-01 -1.23812045e-01 -1.19149092e-02 5.95730907e+01] [ 1.23802304e-01 9.92305685e-01 -1.55449664e-03 3.63046004e+00] [ 1.20156975e-02 6.73314438e-05 9.99927807e-01 5.13743338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.360281693 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:59.63, Y:3.63, Z:0.51 [[ 9.91903585e-01 -1.26433043e-01 -1.19148237e-02 5.96314659e+01] [ 1.26423483e-01 9.91975143e-01 -1.55515192e-03 3.63493623e+00] [ 1.20158315e-02 3.62472492e-05 9.99927807e-01 5.11544902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.420281693 meters Centerline goodness : 0.998724 with order 1 Centerline is valid? [True, True] Translation: X:59.69, Y:3.64, Z:0.51 [[ 9.92072551e-01 -1.25100344e-01 -1.19145561e-02 5.96890191e+01] [ 1.25090664e-01 9.92144093e-01 -1.55719940e-03 3.64083169e+00] [ 1.20157626e-02 5.44550555e-05 9.99927807e-01 5.10959067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48028169300001 meters Centerline goodness : 0.998875 with order 1 Centerline is valid? [True, True] Translation: X:59.75, Y:3.65, Z:0.52 [[ 9.92515491e-01 -1.21536209e-01 -1.19142612e-02 5.97462996e+01] [ 1.21526244e-01 9.92586994e-01 -1.55945200e-03 3.64815619e+00] [ 1.20154706e-02 9.98848414e-05 9.99927807e-01 5.16779587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.540281693 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:59.80, Y:3.66, Z:0.52 [[ 9.92870786e-01 -1.18598717e-01 -1.19141700e-02 5.98035438e+01] [ 1.18588533e-01 9.92942257e-01 -1.56014904e-03 3.65715325e+00] [ 1.20151145e-02 1.36142469e-04 9.99927807e-01 5.19096899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.600281693 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:59.86, Y:3.67, Z:0.52 [[ 9.93435208e-01 -1.13774107e-01 -1.19138797e-02 5.98604283e+01] [ 1.13763549e-01 9.93506625e-01 -1.56236250e-03 3.66914328e+00] [ 1.20142748e-02 1.96740673e-04 9.99927807e-01 5.19932391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.660281693 meters Centerline goodness : 0.998946 with order 1 Centerline is valid? [True, True] Translation: X:59.92, Y:3.68, Z:0.51 [[ 9.93568063e-01 -1.12608041e-01 -1.19135875e-02 5.99171808e+01] [ 1.12597373e-01 9.93639464e-01 -1.56458738e-03 3.67905346e+00] [ 1.20139958e-02 2.13085397e-04 9.99927807e-01 5.12861240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.720281693 meters Centerline goodness : 0.998580 with order 1 Centerline is valid? [True, True] Translation: X:59.98, Y:3.69, Z:0.51 [[ 9.93353068e-01 -1.14489104e-01 -1.19132986e-02 5.99755997e+01] [ 1.14478544e-01 9.93424485e-01 -1.56678391e-03 3.68941538e+00] [ 1.20143422e-02 1.92552518e-04 9.99927807e-01 5.11383144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.780281693 meters Centerline goodness : 0.998732 with order 1 Centerline is valid? [True, True] Translation: X:60.03, Y:3.70, Z:0.52 [[ 9.92796770e-01 -1.19216834e-01 -1.19130411e-02 6.00329559e+01] [ 1.19206592e-01 9.92868233e-01 -1.56873922e-03 3.69562536e+00] [ 1.20151002e-02 1.37326197e-04 9.99927807e-01 5.18292303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84028169300001 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:60.09, Y:3.70, Z:0.52 [[ 9.92428193e-01 -1.22247145e-01 -1.19129037e-02 6.00906491e+01] [ 1.22237108e-01 9.92499685e-01 -1.56978214e-03 3.70050072e+00] [ 1.20154546e-02 1.01697154e-04 9.99927807e-01 5.19829673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.900281693 meters Centerline goodness : 0.998712 with order 1 Centerline is valid? [True, True] Translation: X:60.15, Y:3.70, Z:0.52 [[ 9.91951974e-01 -1.26053051e-01 -1.19126126e-02 6.01491202e+01] [ 1.26043262e-01 9.92023500e-01 -1.57198825e-03 3.70061535e+00] [ 1.20157456e-02 5.78322992e-05 9.99927807e-01 5.17646953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.960281693 meters Centerline goodness : 0.998788 with order 1 Centerline is valid? [True, True] Translation: X:60.21, Y:3.70, Z:0.52 [[ 9.92210124e-01 -1.24004692e-01 -1.19124739e-02 6.02077512e+01] [ 1.23994743e-01 9.92281628e-01 -1.57303892e-03 3.70343218e+00] [ 1.20155932e-02 8.37010128e-05 9.99927807e-01 5.22473861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.020281693 meters Centerline goodness : 0.998519 with order 1 Centerline is valid? [True, True] Translation: X:60.27, Y:3.71, Z:0.52 [[ 9.93169103e-01 -1.16074255e-01 -1.19122182e-02 6.02652268e+01] [ 1.16063711e-01 9.93240522e-01 -1.57497246e-03 3.70729395e+00] [ 1.20145116e-02 1.81637731e-04 9.99927807e-01 5.22789201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.080281693 meters Centerline goodness : 0.998326 with order 1 Centerline is valid? [True, True] Translation: X:60.32, Y:3.71, Z:0.52 [[ 9.94020622e-01 -1.08540815e-01 -1.19119261e-02 6.03230310e+01] [ 1.08529704e-01 9.94091955e-01 -1.57717880e-03 3.71354215e+00] [ 1.20127382e-02 2.74950438e-04 9.99927807e-01 5.17955309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.140281693 meters Centerline goodness : 0.998389 with order 1 Centerline is valid? [True, True] Translation: X:60.38, Y:3.73, Z:0.52 [[ 9.94592619e-01 -1.03167974e-01 -1.19118357e-02 6.03803280e+01] [ 1.03156470e-01 9.94663890e-01 -1.57786144e-03 3.72907049e+00] [ 1.20110576e-02 3.40546430e-04 9.99927807e-01 5.22753970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20028169300001 meters Centerline goodness : 0.998586 with order 1 Centerline is valid? [True, True] Translation: X:60.44, Y:3.75, Z:0.52 [[ 9.95021892e-01 -9.89421433e-02 -1.19115905e-02 6.04362576e+01] [ 9.89303140e-02 9.95093110e-01 -1.57971027e-03 3.74981273e+00] [ 1.20094415e-02 3.93428915e-04 9.99927807e-01 5.23946905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.260281693 meters Centerline goodness : 0.998602 with order 1 Centerline is valid? [True, True] Translation: X:60.49, Y:3.77, Z:0.52 [[ 9.94854570e-01 -1.00610666e-01 -1.19113012e-02 6.04915943e+01] [ 1.00598930e-01 9.94925803e-01 -1.58188812e-03 3.77221267e+00] [ 1.20100158e-02 3.75484458e-04 9.99927807e-01 5.22995168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.320281693 meters Centerline goodness : 0.998553 with order 1 Centerline is valid? [True, True] Translation: X:60.55, Y:3.79, Z:0.52 [[ 9.94406155e-01 -1.04950113e-01 -1.19110153e-02 6.05477581e+01] [ 1.04938662e-01 9.94477435e-01 -1.58403810e-03 3.78857941e+00] [ 1.20114809e-02 3.25251232e-04 9.99927807e-01 5.24910329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.380281693 meters Centerline goodness : 0.998804 with order 1 Centerline is valid? [True, True] Translation: X:60.60, Y:3.80, Z:0.52 [[ 9.93628559e-01 -1.12073282e-01 -1.19107193e-02 6.06041352e+01] [ 1.12062316e-01 9.93699915e-01 -1.58626047e-03 3.80421166e+00] [ 1.20134582e-02 2.41410913e-04 9.99927807e-01 5.22425111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.440281693 meters Centerline goodness : 0.998797 with order 1 Centerline is valid? [True, True] Translation: X:60.66, Y:3.82, Z:0.52 [[ 9.92724812e-01 -1.19814799e-01 -1.19105812e-02 6.06610596e+01] [ 1.19804377e-01 9.92796249e-01 -1.58729691e-03 3.81510960e+00] [ 1.20149620e-02 1.48809258e-04 9.99927807e-01 5.23497995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.500281693 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:60.72, Y:3.82, Z:0.53 [[ 9.91314059e-01 -1.30975477e-01 -1.19104947e-02 6.07192175e+01] [ 1.30965851e-01 9.91385608e-01 -1.58794544e-03 3.82386203e+00] [ 1.20158750e-02 1.42845597e-05 9.99927807e-01 5.27254585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56028169300001 meters Centerline goodness : 0.998746 with order 1 Centerline is valid? [True, True] Translation: X:60.78, Y:3.82, Z:0.53 [[ 9.89992038e-01 -1.40619740e-01 -1.19102537e-02 6.07777714e+01] [ 1.40610790e-01 9.90063674e-01 -1.58975124e-03 3.82438592e+00] [ 1.20154600e-02 -1.00869118e-04 9.99927807e-01 5.27327291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62028169300001 meters Centerline goodness : 0.998834 with order 1 Centerline is valid? [True, True] Translation: X:60.84, Y:3.82, Z:0.53 [[ 9.89491778e-01 -1.44097793e-01 -1.19099697e-02 6.08366086e+01] [ 1.44089069e-01 9.89563442e-01 -1.59187640e-03 3.82397939e+00] [ 1.20150565e-02 -1.40947829e-04 9.99927807e-01 5.31708365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.680281693 meters Centerline goodness : 0.998862 with order 1 Centerline is valid? [True, True] Translation: X:60.90, Y:3.82, Z:0.53 [[ 9.89927425e-01 -1.41073927e-01 -1.19096809e-02 6.08956333e+01] [ 1.41064958e-01 9.89999059e-01 -1.59403393e-03 3.82275367e+00] [ 1.20154495e-02 -1.02060734e-04 9.99927807e-01 5.32161730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.740281693 meters Centerline goodness : 0.998766 with order 1 Centerline is valid? [True, True] Translation: X:60.95, Y:3.82, Z:0.53 [[ 9.91257641e-01 -1.31401888e-01 -1.19093762e-02 6.09527431e+01] [ 1.31392193e-01 9.91329180e-01 -1.59630704e-03 3.82256140e+00] [ 1.20158699e-02 1.75524930e-05 9.99927807e-01 5.34231666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.800281693 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:61.01, Y:3.83, Z:0.53 [[ 9.92679707e-01 -1.20188059e-01 -1.19092441e-02 6.10106880e+01] [ 1.20177543e-01 9.92751130e-01 -1.59729194e-03 3.82750975e+00] [ 1.20148910e-02 1.54375590e-04 9.99927807e-01 5.33274570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.860281693 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:61.07, Y:3.83, Z:0.54 [[ 9.93196765e-01 -1.15837660e-01 -1.19089385e-02 6.10681688e+01] [ 1.15826804e-01 9.93268137e-01 -1.59956704e-03 3.83275576e+00] [ 1.20140593e-02 2.09310514e-04 9.99927807e-01 5.36675878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.920281693 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:61.13, Y:3.84, Z:0.54 [[ 9.93340520e-01 -1.14598386e-01 -1.19088431e-02 6.11257264e+01] [ 1.14587434e-01 9.93411878e-01 -1.60027691e-03 3.83727405e+00] [ 1.20137754e-02 2.25016122e-04 9.99927807e-01 5.40064801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98028169300001 meters Centerline goodness : 0.998762 with order 1 Centerline is valid? [True, True] Translation: X:61.18, Y:3.85, Z:0.54 [[ 9.93829640e-01 -1.10276172e-01 -1.19085415e-02 6.11820056e+01] [ 1.10264881e-01 9.93900945e-01 -1.60251884e-03 3.84750455e+00] [ 1.20126302e-02 2.79536806e-04 9.99927807e-01 5.36125235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.040281693 meters Centerline goodness : 0.998572 with order 1 Centerline is valid? [True, True] Translation: X:61.24, Y:3.86, Z:0.54 [[ 9.94448156e-01 -1.04551698e-01 -1.19083338e-02 6.12379191e+01] [ 1.04539979e-01 9.94519391e-01 -1.60406073e-03 3.86338726e+00] [ 1.20107761e-02 3.50258270e-04 9.99927807e-01 5.42873426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.100281693 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:61.29, Y:3.88, Z:0.55 [[ 9.94452764e-01 -1.04507886e-01 -1.19080297e-02 6.12944773e+01] [ 1.04496137e-01 9.94523995e-01 -1.60631509e-03 3.87596989e+00] [ 1.20106938e-02 3.53061387e-04 9.99927807e-01 5.45079109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.160281693 meters Centerline goodness : 0.998804 with order 1 Centerline is valid? [True, True] Translation: X:61.35, Y:3.89, Z:0.53 [[ 9.94032871e-01 -1.08429042e-01 -1.19077253e-02 6.13514924e+01] [ 1.08417547e-01 9.94104143e-01 -1.60856811e-03 3.88963084e+00] [ 1.20119346e-02 3.07963209e-04 9.99927807e-01 5.33083219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.220281693 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:61.41, Y:3.91, Z:0.54 [[ 9.93556972e-01 -1.12706488e-01 -1.19076319e-02 6.14074076e+01] [ 1.12695291e-01 9.93628291e-01 -1.60925959e-03 3.90689004e+00] [ 1.20131339e-02 2.56957048e-04 9.99927807e-01 5.36910120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.280281693 meters Centerline goodness : 0.998853 with order 1 Centerline is valid? [True, True] Translation: X:61.46, Y:3.92, Z:0.54 [[ 9.92832970e-01 -1.18915535e-01 -1.19074893e-02 6.14635869e+01] [ 1.18904772e-01 9.92904357e-01 -1.61031365e-03 3.92123552e+00] [ 1.20144893e-02 1.82915183e-04 9.99927807e-01 5.39288096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34028169300001 meters Centerline goodness : 0.998789 with order 1 Centerline is valid? [True, True] Translation: X:61.52, Y:3.94, Z:0.54 [[ 9.91753350e-01 -1.27606862e-01 -1.19072026e-02 6.15205898e+01] [ 1.27596699e-01 9.91824825e-01 -1.61243111e-03 3.93544461e+00] [ 1.20156164e-02 7.98142098e-05 9.99927807e-01 5.42104990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.400281693 meters Centerline goodness : 0.998942 with order 1 Centerline is valid? [True, True] Translation: X:61.58, Y:3.94, Z:0.54 [[ 9.90861261e-01 -1.34358431e-01 -1.19069015e-02 6.15765020e+01] [ 1.34348728e-01 9.90932799e-01 -1.61465114e-03 3.94399855e+00] [ 1.20158812e-02 2.18190466e-07 9.99927807e-01 5.42479539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.460281693 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:61.63, Y:3.95, Z:0.54 [[ 9.89867224e-01 -1.41495965e-01 -1.19067721e-02 6.16344278e+01] [ 1.41486767e-01 9.89938829e-01 -1.61560479e-03 3.95037860e+00] [ 1.20155776e-02 -8.54164632e-05 9.99927807e-01 5.39582645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.520281693 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:61.69, Y:3.96, Z:0.55 [[ 9.89633522e-01 -1.43121375e-01 -1.19064750e-02 6.16923111e+01] [ 1.43112268e-01 9.89705139e-01 -1.61779165e-03 3.95606817e+00] [ 1.20154400e-02 -1.02941789e-04 9.99927807e-01 5.48484661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.580281693 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:61.75, Y:3.96, Z:0.55 [[ 9.89997844e-01 -1.40579183e-01 -1.19063832e-02 6.17508616e+01] [ 1.40569884e-01 9.90069436e-01 -1.61846711e-03 3.95895765e+00] [ 1.20156689e-02 -7.13999555e-05 9.99927807e-01 5.50425037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.640281693 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:61.81, Y:3.96, Z:0.55 [[ 9.90456548e-01 -1.37310128e-01 -1.19060812e-02 6.18087328e+01] [ 1.37300566e-01 9.90528106e-01 -1.62068574e-03 3.96365289e+00] [ 1.20158446e-02 -2.94928782e-05 9.99927807e-01 5.47359648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70028169300001 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:61.87, Y:3.97, Z:0.55 [[ 9.90937807e-01 -1.33792807e-01 -1.19057786e-02 6.18667185e+01] [ 1.33782965e-01 9.91009326e-01 -1.62290521e-03 3.96611910e+00] [ 1.20158707e-02 1.54077675e-05 9.99927807e-01 5.51737556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.760281693 meters Centerline goodness : 0.999301 with order 1 Centerline is valid? [True, True] Translation: X:61.92, Y:3.97, Z:0.55 [[ 9.90782033e-01 -1.34941550e-01 -1.19054769e-02 6.19246247e+01] [ 1.34931764e-01 9.90853560e-01 -1.62511586e-03 3.96661987e+00] [ 1.20158798e-02 3.70860186e-06 9.99927807e-01 5.49618108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.820281693 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:61.98, Y:3.96, Z:0.55 [[ 9.90338364e-01 -1.38160005e-01 -1.19053467e-02 6.19834405e+01] [ 1.38150440e-01 9.90409921e-01 -1.62606914e-03 3.96362740e+00] [ 1.20158312e-02 -3.43702300e-05 9.99927807e-01 5.50627904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.880281693 meters Centerline goodness : 0.999190 with order 1 Centerline is valid? [True, True] Translation: X:62.04, Y:3.96, Z:0.55 [[ 9.90544082e-01 -1.36677329e-01 -1.19050364e-02 6.20410668e+01] [ 1.36667630e-01 9.90615620e-01 -1.62833767e-03 3.96296112e+00] [ 1.20158718e-02 -1.40928671e-05 9.99927807e-01 5.49796362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.940281693 meters Centerline goodness : 0.999110 with order 1 Centerline is valid? [True, True] Translation: X:62.10, Y:3.97, Z:0.55 [[ 9.91468586e-01 -1.29801061e-01 -1.19049016e-02 6.20987946e+01] [ 1.29790853e-01 9.91540054e-01 -1.62932248e-03 3.96516885e+00] [ 1.20156746e-02 7.02747213e-05 9.99927807e-01 5.47709111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.000281693 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:62.16, Y:3.97, Z:0.55 [[ 9.92020753e-01 -1.25511372e-01 -1.19046909e-02 6.21563696e+01] [ 1.25500837e-01 9.92092173e-01 -1.63086012e-03 3.96938365e+00] [ 1.20152422e-02 1.23798410e-04 9.99927807e-01 5.50092524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06028169300001 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:62.21, Y:3.97, Z:0.55 [[ 9.91900552e-01 -1.26457825e-01 -1.19043848e-02 6.22138596e+01] [ 1.26447331e-01 9.91971978e-01 -1.63309198e-03 3.96903656e+00] [ 1.20153334e-02 1.14587146e-04 9.99927807e-01 5.46178557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12028169300001 meters Centerline goodness : 0.998877 with order 1 Centerline is valid? [True, True] Translation: X:62.27, Y:3.97, Z:0.55 [[ 9.91156238e-01 -1.32165054e-01 -1.19042524e-02 6.22727269e+01] [ 1.32154961e-01 9.91227722e-01 -1.63405612e-03 3.96880040e+00] [ 1.20157901e-02 4.63989058e-05 9.99927807e-01 5.47409825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.180281693 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:62.33, Y:3.96, Z:0.55 [[ 9.90501652e-01 -1.36984572e-01 -1.19039517e-02 6.23311899e+01] [ 1.36974800e-01 9.90573181e-01 -1.63624408e-03 3.96474880e+00] [ 1.20158755e-02 -9.83892727e-06 9.99927807e-01 5.52393872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.240281693 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:62.39, Y:3.96, Z:0.55 [[ 9.90663802e-01 -1.35806957e-01 -1.19038593e-02 6.23909363e+01] [ 1.35797092e-01 9.90735318e-01 -1.63691591e-03 3.95564290e+00] [ 1.20158784e-02 5.12385980e-06 9.99927807e-01 5.49057247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.300281693 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:62.45, Y:3.96, Z:0.55 [[ 9.90807948e-01 -1.34751310e-01 -1.19035675e-02 6.24493860e+01] [ 1.34741343e-01 9.90879450e-01 -1.63903499e-03 3.95985342e+00] [ 1.20158625e-02 2.00662204e-05 9.99927807e-01 5.49887904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.360281693 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:62.51, Y:3.96, Z:0.55 [[ 9.91463713e-01 -1.29838419e-01 -1.19033847e-02 6.25078704e+01] [ 1.29828082e-01 9.91535162e-01 -1.64036147e-03 3.95630485e+00] [ 1.20156064e-02 8.09652729e-05 9.99927807e-01 5.52204038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.420281693 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:62.57, Y:3.95, Z:0.56 [[ 9.91695170e-01 -1.28058589e-01 -1.19032943e-02 6.25665824e+01] [ 1.28048115e-01 9.91766599e-01 -1.64101742e-03 3.95467593e+00] [ 1.20154361e-02 1.03194651e-04 9.99927807e-01 5.55970988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48028169300001 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:62.62, Y:3.96, Z:0.56 [[ 9.92008910e-01 -1.25605102e-01 -1.19030064e-02 6.26245684e+01] [ 1.25594427e-01 9.92080309e-01 -1.64310305e-03 3.95863207e+00] [ 1.20151204e-02 1.35021607e-04 9.99927807e-01 5.56017704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.540281693 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:62.68, Y:3.97, Z:0.56 [[ 9.92308305e-01 -1.23217503e-01 -1.19026969e-02 6.26806069e+01] [ 1.23206629e-01 9.92379675e-01 -1.64534224e-03 3.96848749e+00] [ 1.20147294e-02 1.66195611e-04 9.99927807e-01 5.57370623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.600281693 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:62.74, Y:3.98, Z:0.56 [[ 9.92862354e-01 -1.18670446e-01 -1.19025624e-02 6.27381410e+01] [ 1.18659234e-01 9.92933671e-01 -1.64631424e-03 3.97826568e+00] [ 1.20138238e-02 2.22214501e-04 9.99927807e-01 5.60804325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.660281693 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:62.79, Y:3.99, Z:0.56 [[ 9.93278828e-01 -1.15132558e-01 -1.19022584e-02 6.27942534e+01] [ 1.15121066e-01 9.93350101e-01 -1.64850909e-03 3.99384541e+00] [ 1.20129067e-02 2.67228503e-04 9.99927807e-01 5.57565991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.720281693 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:62.85, Y:4.01, Z:0.56 [[ 9.92972257e-01 -1.17747360e-01 -1.19019526e-02 6.28514548e+01] [ 1.17736029e-01 9.93043555e-01 -1.65071410e-03 4.00637566e+00] [ 1.20135246e-02 2.37824668e-04 9.99927807e-01 5.59236799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.780281693 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:62.91, Y:4.02, Z:0.56 [[ 9.92378685e-01 -1.22649485e-01 -1.19016387e-02 6.29073201e+01] [ 1.22638479e-01 9.92450035e-01 -1.65297451e-03 4.01794473e+00] [ 1.20145182e-02 1.80777808e-04 9.99927807e-01 5.57087357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84028169300001 meters Centerline goodness : 0.999430 with order 1 Centerline is valid? [True, True] Translation: X:62.96, Y:4.03, Z:0.56 [[ 9.92197609e-01 -1.24105839e-01 -1.19015023e-02 6.29646462e+01] [ 1.24094926e-01 9.92268972e-01 -1.65395578e-03 4.02907588e+00] [ 1.20147570e-02 1.64134916e-04 9.99927807e-01 5.55130014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.900281693 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:63.02, Y:4.04, Z:0.56 [[ 9.91875145e-01 -1.26657230e-01 -1.19014082e-02 6.30208910e+01] [ 1.26646492e-01 9.91946535e-01 -1.65463289e-03 4.04238187e+00] [ 1.20151318e-02 1.33917646e-04 9.99927807e-01 5.59201506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.960281693 meters Centerline goodness : 0.999532 with order 1 Centerline is valid? [True, True] Translation: X:63.08, Y:4.05, Z:0.56 [[ 9.91209470e-01 -1.31765512e-01 -1.19010994e-02 6.30772154e+01] [ 1.31755115e-01 9.91280911e-01 -1.65685060e-03 4.05237868e+00] [ 1.20156484e-02 7.42552796e-05 9.99927807e-01 5.59429304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.020281693 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:63.14, Y:4.06, Z:0.55 [[ 9.90217426e-01 -1.39024519e-01 -1.19009666e-02 6.31360161e+01] [ 1.39014635e-01 9.90288939e-01 -1.65780378e-03 4.05937516e+00] [ 1.20158710e-02 -1.28223391e-05 9.99927807e-01 5.54528326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.080281693 meters Centerline goodness : 0.999338 with order 1 Centerline is valid? [True, True] Translation: X:63.19, Y:4.07, Z:0.56 [[ 9.89133857e-01 -1.46535272e-01 -1.19007034e-02 6.31935819e+01] [ 1.46525908e-01 9.89205441e-01 -1.65969115e-03 4.06508137e+00] [ 1.20154439e-02 -1.02104673e-04 9.99927807e-01 5.60363299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.140281693 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:63.25, Y:4.07, Z:0.56 [[ 9.88987118e-01 -1.47522392e-01 -1.19006108e-02 6.32519403e+01] [ 1.47513092e-01 9.89058710e-01 -1.66035516e-03 4.07003495e+00] [ 1.20153423e-02 -1.13426025e-04 9.99927807e-01 5.56561315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20028169300001 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:63.31, Y:4.08, Z:0.56 [[ 9.89245598e-01 -1.45779039e-01 -1.19003178e-02 6.33091590e+01] [ 1.45769588e-01 9.89317170e-01 -1.66245253e-03 4.07830886e+00] [ 1.20155394e-02 -9.01305639e-05 9.99927807e-01 5.56913053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.260281693 meters Centerline goodness : 0.999469 with order 1 Centerline is valid? [True, True] Translation: X:63.37, Y:4.09, Z:0.56 [[ 9.89451184e-01 -1.44377089e-01 -1.19000249e-02 6.33664664e+01] [ 1.44367511e-01 9.89522739e-01 -1.66454640e-03 4.08585804e+00] [ 1.20156676e-02 -7.09895695e-05 9.99927807e-01 5.61840970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.320281693 meters Centerline goodness : 0.999444 with order 1 Centerline is valid? [True, True] Translation: X:63.42, Y:4.09, Z:0.57 [[ 9.89584895e-01 -1.43457756e-01 -1.18999343e-02 6.34232099e+01] [ 1.43448103e-01 9.89656440e-01 -1.66519399e-03 4.09468426e+00] [ 1.20157316e-02 -5.91721845e-05 9.99927807e-01 5.72279377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.380281693 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:63.48, Y:4.10, Z:0.58 [[ 9.89800530e-01 -1.41962354e-01 -1.18996469e-02 6.34808793e+01] [ 1.41952569e-01 9.89872057e-01 -1.66724534e-03 4.10368403e+00] [ 1.20158140e-02 -3.89451266e-05 9.99927807e-01 5.75406795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.440281693 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:63.54, Y:4.12, Z:0.57 [[ 9.89986643e-01 -1.40658639e-01 -1.18993493e-02 6.35373795e+01] [ 1.40648734e-01 9.90058153e-01 -1.66936613e-03 4.11508448e+00] [ 1.20158586e-02 -2.09782491e-05 9.99927807e-01 5.69145039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.500281693 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:63.59, Y:4.13, Z:0.57 [[ 9.89843621e-01 -1.41661618e-01 -1.18992106e-02 6.35949396e+01] [ 1.41651774e-01 9.89915140e-01 -1.67035445e-03 4.12534067e+00] [ 1.20158338e-02 -3.21545927e-05 9.99927807e-01 5.69428428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56028169300001 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:63.65, Y:4.13, Z:0.57 [[ 9.89317889e-01 -1.45287752e-01 -1.18988961e-02 6.36515013e+01] [ 1.45278143e-01 9.89389440e-01 -1.67259165e-03 4.12936943e+00] [ 1.20156492e-02 -7.39246953e-05 9.99927807e-01 5.67466436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.620281693 meters Centerline goodness : 0.999427 with order 1 Centerline is valid? [True, True] Translation: X:63.71, Y:4.13, Z:0.57 [[ 9.88899084e-01 -1.48111515e-01 -1.18987600e-02 6.37090107e+01] [ 1.48102099e-01 9.88970661e-01 -1.67355936e-03 4.13364401e+00] [ 1.20153980e-02 -1.07250016e-04 9.99927807e-01 5.68830841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.680281693 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:63.77, Y:4.13, Z:0.57 [[ 9.88506777e-01 -1.50707596e-01 -1.18984503e-02 6.37671988e+01] [ 1.50698341e-01 9.88578374e-01 -1.67575824e-03 4.13418628e+00] [ 1.20151002e-02 -1.36578349e-04 9.99927807e-01 5.66645746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.740281693 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:63.82, Y:4.14, Z:0.57 [[ 9.89051499e-01 -1.47090336e-01 -1.18981410e-02 6.38243416e+01] [ 1.47080793e-01 9.89123058e-01 -1.67795162e-03 4.13681180e+00] [ 1.20155361e-02 -9.04074503e-05 9.99927807e-01 5.65804885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.800281693 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:63.88, Y:4.14, Z:0.57 [[ 9.89959549e-01 -1.40849314e-01 -1.18980076e-02 6.38832518e+01] [ 1.40839308e-01 9.90031045e-01 -1.67889687e-03 4.14138812e+00] [ 1.20158684e-02 -1.36671714e-05 9.99927807e-01 5.69055739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.860281693 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:63.94, Y:4.15, Z:0.57 [[ 9.90650563e-01 -1.35904031e-01 -1.18977434e-02 6.39410692e+01] [ 1.35893646e-01 9.90722005e-01 -1.68076705e-03 4.14861194e+00] [ 1.20157792e-02 4.82250872e-05 9.99927807e-01 5.68484819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.920281693 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:64.00, Y:4.15, Z:0.57 [[ 9.90964146e-01 -1.33598328e-01 -1.18974219e-02 6.39985400e+01] [ 1.33587750e-01 9.91035560e-01 -1.68303995e-03 4.15328022e+00] [ 1.20156195e-02 7.84824277e-05 9.99927807e-01 5.68523704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98028169300001 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:64.06, Y:4.15, Z:0.57 [[ 9.90999801e-01 -1.33333620e-01 -1.18970974e-02 6.40567128e+01] [ 1.33322994e-01 9.91071208e-01 -1.68533065e-03 4.15463502e+00] [ 1.20155819e-02 8.40056919e-05 9.99927807e-01 5.72352559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.040281693 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:64.11, Y:4.16, Z:0.57 [[ 9.91059079e-01 -1.32892303e-01 -1.18969965e-02 6.41142382e+01] [ 1.32881637e-01 9.91130480e-01 -1.68604236e-03 4.15907585e+00] [ 1.20155379e-02 9.00752111e-05 9.99927807e-01 5.73756157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.100281693 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:64.17, Y:4.16, Z:0.57 [[ 9.91514440e-01 -1.29451085e-01 -1.18966769e-02 6.41719258e+01] [ 1.29440145e-01 9.91585800e-01 -1.68829495e-03 4.16288813e+00] [ 1.20151275e-02 1.34061244e-04 9.99927807e-01 5.71126106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.160281693 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:64.23, Y:4.17, Z:0.58 [[ 9.91656423e-01 -1.28358932e-01 -1.18963604e-02 6.42301757e+01] [ 1.28347887e-01 9.91727766e-01 -1.69052204e-03 4.16720512e+00] [ 1.20149445e-02 1.49544323e-04 9.99927807e-01 5.76496372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.220281693 meters Centerline goodness : 0.999427 with order 1 Centerline is valid? [True, True] Translation: X:64.29, Y:4.17, Z:0.58 [[ 9.91948122e-01 -1.26084904e-01 -1.18962616e-02 6.42874658e+01] [ 1.26073686e-01 9.92019438e-01 -1.69121661e-03 4.17494708e+00] [ 1.20145597e-02 1.77793582e-04 9.99927807e-01 5.78296873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.280281693 meters Centerline goodness : 0.999279 with order 1 Centerline is valid? [True, True] Translation: X:64.34, Y:4.19, Z:0.58 [[ 9.92345060e-01 -1.22921796e-01 -1.18959437e-02 6.43443664e+01] [ 1.22910325e-01 9.92416336e-01 -1.69345014e-03 4.18534924e+00] [ 1.20138908e-02 2.18352583e-04 9.99927807e-01 5.78307840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34028169300001 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:64.40, Y:4.20, Z:0.57 [[ 9.92782425e-01 -1.19337969e-01 -1.18956249e-02 6.44002036e+01] [ 1.19326213e-01 9.92853655e-01 -1.69568673e-03 4.19763661e+00] [ 1.20129744e-02 2.63988109e-04 9.99927807e-01 5.74676897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.400281693 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:64.46, Y:4.21, Z:0.58 [[ 9.92634860e-01 -1.20559256e-01 -1.18954085e-02 6.44560638e+01] [ 1.20547569e-01 9.92706101e-01 -1.69720352e-03 4.20609657e+00] [ 1.20132581e-02 2.50740798e-04 9.99927807e-01 5.78280845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.460281693 meters Centerline goodness : 0.999320 with order 1 Centerline is valid? [True, True] Translation: X:64.51, Y:4.22, Z:0.58 [[ 9.92164372e-01 -1.24371864e-01 -1.18952753e-02 6.45133403e+01] [ 1.24360440e-01 9.92235656e-01 -1.69813618e-03 4.21545044e+00] [ 1.20141167e-02 2.05528536e-04 9.99927807e-01 5.76210985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.520281693 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:64.57, Y:4.22, Z:0.58 [[ 9.91865917e-01 -1.26730075e-01 -1.18949551e-02 6.45702614e+01] [ 1.26718794e-01 9.91937224e-01 -1.70037592e-03 4.22398496e+00] [ 1.20145375e-02 1.79230551e-04 9.99927807e-01 5.76200447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.580281693 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:64.63, Y:4.23, Z:0.58 [[ 9.91522252e-01 -1.29391432e-01 -1.18946234e-02 6.46265661e+01] [ 1.29380315e-01 9.91593584e-01 -1.70269345e-03 4.23103670e+00] [ 1.20149462e-02 1.49328328e-04 9.99927807e-01 5.76304656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.640281693 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:64.68, Y:4.24, Z:0.58 [[ 9.90916014e-01 -1.33955124e-01 -1.18944795e-02 6.46846313e+01] [ 1.33944323e-01 9.90987394e-01 -1.70369799e-03 4.23662433e+00] [ 1.20154983e-02 9.50236114e-05 9.99927807e-01 5.76418760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70028169300001 meters Centerline goodness : 0.999234 with order 1 Centerline is valid? [True, True] Translation: X:64.74, Y:4.24, Z:0.58 [[ 9.90298090e-01 -1.38449345e-01 -1.18941564e-02 6.47423354e+01] [ 1.38438841e-01 9.90369515e-01 -1.70595047e-03 4.24279762e+00] [ 1.20157977e-02 4.27862627e-05 9.99927807e-01 5.82046432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.760281693 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:64.80, Y:4.25, Z:0.58 [[ 9.90153745e-01 -1.39477946e-01 -1.18938347e-02 6.47998317e+01] [ 1.39467490e-01 9.90225177e-01 -1.70819074e-03 4.25054712e+00] [ 1.20158295e-02 3.25681933e-05 9.99927807e-01 5.75698056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.820281693 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:64.86, Y:4.26, Z:0.58 [[ 9.90051589e-01 -1.40201268e-01 -1.18935129e-02 6.48564825e+01] [ 1.40190836e-01 9.90123025e-01 -1.71042857e-03 4.26051419e+00] [ 1.20158452e-02 2.60510068e-05 9.99927807e-01 5.76383061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.880281693 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:64.91, Y:4.27, Z:0.58 [[ 9.89601541e-01 -1.43343439e-01 -1.18931893e-02 6.49139017e+01] [ 1.43333208e-01 9.89673006e-01 -1.71267569e-03 4.26779198e+00] [ 1.20158692e-02 -9.82246528e-06 9.99927807e-01 5.78067439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.940281693 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:64.97, Y:4.27, Z:0.58 [[ 9.89101350e-01 -1.46755170e-01 -1.18928677e-02 6.49710736e+01] [ 1.46745158e-01 9.89172845e-01 -1.71490611e-03 4.27431422e+00] [ 1.20157731e-02 -4.90047936e-05 9.99927807e-01 5.78780082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.000281693 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:65.03, Y:4.28, Z:0.59 [[ 9.88228236e-01 -1.52523839e-01 -1.18925472e-02 6.50289095e+01] [ 1.52514218e-01 9.88299785e-01 -1.71712545e-03 4.27800129e+00] [ 1.20153044e-02 -1.16870679e-04 9.99927807e-01 5.85996764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06028169300001 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:65.09, Y:4.28, Z:0.59 [[ 9.88073075e-01 -1.53525790e-01 -1.18924484e-02 6.50869338e+01] [ 1.53516233e-01 9.88144633e-01 -1.71780919e-03 4.28361208e+00] [ 1.20151871e-02 -1.28362876e-04 9.99927807e-01 5.85699603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.120281693 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:65.14, Y:4.29, Z:0.58 [[ 9.88573508e-01 -1.50269744e-01 -1.18921371e-02 6.51436640e+01] [ 1.50259926e-01 9.88645031e-01 -1.71996168e-03 4.28958537e+00] [ 1.20155605e-02 -8.66030924e-05 9.99927807e-01 5.83692516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.180281693 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:65.20, Y:4.30, Z:0.59 [[ 9.89294133e-01 -1.45449988e-01 -1.18920022e-02 6.52012468e+01] [ 1.45439810e-01 9.89365605e-01 -1.72089383e-03 4.29928305e+00] [ 1.20158420e-02 -2.71003711e-05 9.99927807e-01 5.87448851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.240281693 meters Centerline goodness : 0.998721 with order 1 Centerline is valid? [True, True] Translation: X:65.26, Y:4.31, Z:0.59 [[ 9.90339638e-01 -1.38152053e-01 -1.18916954e-02 6.52582622e+01] [ 1.38141323e-01 9.90411029e-01 -1.72301147e-03 4.30779380e+00] [ 1.20157039e-02 6.36320141e-05 9.99927807e-01 5.91846884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.300281693 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:65.32, Y:4.32, Z:0.59 [[ 9.90906887e-01 -1.34022895e-01 -1.18913682e-02 6.53150739e+01] [ 1.34011840e-01 9.90978229e-01 -1.72526675e-03 4.31898483e+00] [ 1.20153122e-02 1.15994570e-04 9.99927807e-01 5.86072417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.360281693 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:65.37, Y:4.33, Z:0.59 [[ 9.91561088e-01 -1.29093787e-01 -1.18912671e-02 6.53719092e+01] [ 1.29082369e-01 9.91632373e-01 -1.72596308e-03 4.33353165e+00] [ 1.20145766e-02 1.76444896e-04 9.99927807e-01 5.90951740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.420281693 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:65.43, Y:4.35, Z:0.59 [[ 9.91723989e-01 -1.27836357e-01 -1.18909448e-02 6.54278437e+01] [ 1.27824822e-01 9.91795255e-01 -1.72818123e-03 4.34697696e+00] [ 1.20143070e-02 1.93920885e-04 9.99927807e-01 5.85613756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48028169300001 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:65.48, Y:4.36, Z:0.59 [[ 9.91829047e-01 -1.27018700e-01 -1.18908054e-02 6.54843762e+01] [ 1.27007095e-01 9.91900301e-01 -1.72913979e-03 4.35831264e+00] [ 1.20141265e-02 2.04794421e-04 9.99927807e-01 5.89943637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.540281693 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:65.54, Y:4.37, Z:0.59 [[ 9.92055137e-01 -1.25240653e-01 -1.18904922e-02 6.55415714e+01] [ 1.25228894e-01 9.92126366e-01 -1.73129046e-03 4.37088437e+00] [ 1.20136988e-02 2.28502400e-04 9.99927807e-01 5.89984262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.600281693 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:65.60, Y:4.38, Z:0.58 [[ 9.91997862e-01 -1.25693536e-01 -1.18901794e-02 6.55997527e+01] [ 1.25681785e-01 9.92069092e-01 -1.73343585e-03 4.38194102e+00] [ 1.20137612e-02 2.25185685e-04 9.99927807e-01 5.84475374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.660281693 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:65.66, Y:4.39, Z:0.59 [[ 9.91801913e-01 -1.27230484e-01 -1.18899066e-02 6.56573441e+01] [ 1.27218820e-01 9.91873157e-01 -1.73530532e-03 4.39189483e+00] [ 1.20140629e-02 2.08459247e-04 9.99927807e-01 5.86312874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.720281693 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:65.71, Y:4.40, Z:0.59 [[ 9.91426082e-01 -1.30126716e-01 -1.18895972e-02 6.57139750e+01] [ 1.30115235e-01 9.91497356e-01 -1.73742258e-03 4.40307408e+00] [ 1.20145893e-02 1.75508325e-04 9.99927807e-01 5.89413383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.780281693 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:65.77, Y:4.41, Z:0.59 [[ 9.91141524e-01 -1.32276675e-01 -1.18895010e-02 6.57712245e+01] [ 1.32265340e-01 9.91212822e-01 -1.73808037e-03 4.41370346e+00] [ 1.20149334e-02 1.50114728e-04 9.99927807e-01 5.91866710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84028169300001 meters Centerline goodness : 0.998963 with order 1 Centerline is valid? [True, True] Translation: X:65.83, Y:4.42, Z:0.60 [[ 9.90924233e-01 -1.33894782e-01 -1.18891746e-02 6.58268424e+01] [ 1.33883537e-01 9.90995545e-01 -1.74031064e-03 4.42346566e+00] [ 1.20151376e-02 1.32751234e-04 9.99927807e-01 5.98112354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.900281693 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:65.88, Y:4.43, Z:0.59 [[ 9.90853598e-01 -1.34416510e-01 -1.18890333e-02 6.58827652e+01] [ 1.34405292e-01 9.90924914e-01 -1.74127499e-03 4.43245052e+00] [ 1.20151955e-02 1.27399593e-04 9.99927807e-01 5.94005648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.960281693 meters Centerline goodness : 0.999045 with order 1 Centerline is valid? [True, True] Translation: X:65.94, Y:4.44, Z:0.60 [[ 9.90407528e-01 -1.37664746e-01 -1.18889040e-02 6.59407654e+01] [ 1.37653751e-01 9.90478879e-01 -1.74215781e-03 4.43824053e+00] [ 1.20155420e-02 8.88939891e-05 9.99927807e-01 5.96509886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.020281693 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:66.00, Y:4.44, Z:0.60 [[ 9.89911121e-01 -1.41190058e-01 -1.18886107e-02 6.59987002e+01] [ 1.41179293e-01 9.89982508e-01 -1.74415656e-03 4.44414124e+00] [ 1.20157742e-02 4.81343152e-05 9.99927807e-01 5.95567223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.080281693 meters Centerline goodness : 0.998862 with order 1 Centerline is valid? [True, True] Translation: X:66.06, Y:4.45, Z:0.59 [[ 9.90207872e-01 -1.39093636e-01 -1.18882902e-02 6.60555050e+01] [ 1.39082694e-01 9.90279231e-01 -1.74633887e-03 4.45351667e+00] [ 1.20156315e-02 7.57830714e-05 9.99927807e-01 5.92713990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.140281693 meters Centerline goodness : 0.998612 with order 1 Centerline is valid? [True, True] Translation: X:66.11, Y:4.47, Z:0.60 [[ 9.90840340e-01 -1.34514303e-01 -1.18879552e-02 6.61126508e+01] [ 1.34503003e-01 9.90911643e-01 -1.74861619e-03 4.46562520e+00] [ 1.20151271e-02 1.33633785e-04 9.99927807e-01 5.98753265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20028169300001 meters Centerline goodness : 0.998814 with order 1 Centerline is valid? [True, True] Translation: X:66.17, Y:4.48, Z:0.59 [[ 9.91614414e-01 -1.28683871e-01 -1.18876154e-02 6.61675569e+01] [ 1.28672124e-01 9.91685645e-01 -1.75092338e-03 4.48125216e+00] [ 1.20140931e-02 2.06636143e-04 9.99927807e-01 5.92021079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.260281693 meters Centerline goodness : 0.998851 with order 1 Centerline is valid? [True, True] Translation: X:66.22, Y:4.50, Z:0.59 [[ 9.92108096e-01 -1.24820733e-01 -1.18873847e-02 6.62230499e+01] [ 1.24808690e-01 9.92179278e-01 -1.75248828e-03 4.50044017e+00] [ 1.20131636e-02 2.55008900e-04 9.99927807e-01 5.93132129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.320281693 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:66.28, Y:4.52, Z:0.60 [[ 9.91108435e-01 -1.32524593e-01 -1.18870550e-02 6.62783215e+01] [ 1.32513077e-01 9.91179704e-01 -1.75472162e-03 4.52330743e+00] [ 1.20147514e-02 1.63929166e-04 9.99927807e-01 5.95371352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.380281693 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:66.33, Y:4.54, Z:0.60 [[ 9.89171470e-01 -1.46282272e-01 -1.18869537e-02 6.63340792e+01] [ 1.46271739e-01 9.89242891e-01 -1.75540787e-03 4.53511461e+00] [ 1.20158694e-02 -2.32600094e-06 9.99927807e-01 5.98529745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.440281693 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:66.39, Y:4.54, Z:0.60 [[ 9.87789819e-01 -1.55338267e-01 -1.18868139e-02 6.63917593e+01] [ 1.55328378e-01 9.87861332e-01 -1.75635362e-03 4.54451638e+00] [ 1.20153527e-02 -1.11451293e-04 9.99927807e-01 5.98917829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.500281693 meters Centerline goodness : 0.998840 with order 1 Centerline is valid? [True, True] Translation: X:66.45, Y:4.55, Z:0.60 [[ 9.87494937e-01 -1.57201972e-01 -1.18864987e-02 6.64493756e+01] [ 1.57192192e-01 9.87566465e-01 -1.75848416e-03 4.55010013e+00] [ 1.20151447e-02 -1.31970582e-04 9.99927807e-01 5.98349398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56028169300001 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:66.51, Y:4.55, Z:0.60 [[ 9.87211710e-01 -1.58970936e-01 -1.18861784e-02 6.65074895e+01] [ 1.58961258e-01 9.87283251e-01 -1.76064678e-03 4.55340394e+00] [ 1.20149165e-02 -1.51310749e-04 9.99927807e-01 6.02253904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.620281693 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:66.57, Y:4.55, Z:0.61 [[ 9.87190463e-01 -1.59102846e-01 -1.18858589e-02 6.65661265e+01] [ 1.59093152e-01 9.87262002e-01 -1.76280117e-03 4.55453474e+00] [ 1.20149235e-02 -1.50738250e-04 9.99927807e-01 6.06033359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.680281693 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:66.62, Y:4.56, Z:0.61 [[ 9.87900568e-01 -1.54632474e-01 -1.18855414e-02 6.66230276e+01] [ 1.54622430e-01 9.87972059e-01 -1.76493885e-03 4.56253393e+00] [ 1.20154997e-02 -9.41872074e-05 9.99927807e-01 6.06081706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.740281693 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:66.68, Y:4.57, Z:0.61 [[ 9.88901782e-01 -1.48094581e-01 -1.18853257e-02 6.66803778e+01] [ 1.48084047e-01 9.88973202e-01 -1.76639009e-03 4.56862131e+00] [ 1.20158615e-02 -1.32408266e-05 9.99927807e-01 6.07041620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.800281693 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:66.74, Y:4.58, Z:0.61 [[ 9.89892066e-01 -1.41323898e-01 -1.18849908e-02 6.67375951e+01] [ 1.41312848e-01 9.89963409e-01 -1.76864084e-03 4.58129050e+00] [ 1.20156572e-02 7.12616301e-05 9.99927807e-01 6.05174495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.860281693 meters Centerline goodness : 0.999133 with order 1 Centerline is valid? [True, True] Translation: X:66.79, Y:4.59, Z:0.60 [[ 9.90376034e-01 -1.37891501e-01 -1.18846576e-02 6.67944329e+01] [ 1.37880177e-01 9.90447334e-01 -1.77087700e-03 4.59301791e+00] [ 1.20153163e-02 1.15175442e-04 9.99927807e-01 6.01233891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.920281693 meters Centerline goodness : 0.999237 with order 1 Centerline is valid? [True, True] Translation: X:66.85, Y:4.61, Z:0.60 [[ 9.90537283e-01 -1.36728377e-01 -1.18845544e-02 6.68498017e+01] [ 1.36716961e-01 9.90608568e-01 -1.77156960e-03 4.60536284e+00] [ 1.20151652e-02 1.29985584e-04 9.99927807e-01 6.00998387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98028169300001 meters Centerline goodness : 0.999232 with order 1 Centerline is valid? [True, True] Translation: X:66.91, Y:4.62, Z:0.60 [[ 9.90926274e-01 -1.33880096e-01 -1.18844127e-02 6.69066841e+01] [ 1.33868464e-01 9.90997524e-01 -1.77251929e-03 4.61941082e+00] [ 1.20147286e-02 1.65487852e-04 9.99927807e-01 6.01311028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.040281693 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:66.96, Y:4.63, Z:0.60 [[ 9.90702851e-01 -1.35523536e-01 -1.18840858e-02 6.69633295e+01] [ 1.35511996e-01 9.90774116e-01 -1.77470815e-03 4.63412062e+00] [ 1.20149594e-02 1.47772224e-04 9.99927807e-01 6.01683860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.100281693 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:67.02, Y:4.64, Z:0.60 [[ 9.90093967e-01 -1.39902514e-01 -1.18837475e-02 6.70205946e+01] [ 1.39891262e-01 9.90165278e-01 -1.77697094e-03 4.63956625e+00] [ 1.20154768e-02 9.69357689e-05 9.99927807e-01 5.99963965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.160281693 meters Centerline goodness : 0.999300 with order 1 Centerline is valid? [True, True] Translation: X:67.08, Y:4.65, Z:0.61 [[ 9.89605503e-01 -1.43316889e-01 -1.18835161e-02 6.70790184e+01] [ 1.43305864e-01 9.89676849e-01 -1.77851729e-03 4.64740094e+00] [ 1.20157323e-02 5.70529553e-05 9.99927807e-01 6.07802109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.220281693 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:67.14, Y:4.65, Z:0.61 [[ 9.89882673e-01 -1.41389826e-01 -1.18832466e-02 6.71367120e+01] [ 1.41378641e-01 9.89953994e-01 -1.78031601e-03 4.65416288e+00] [ 1.20155860e-02 8.22667236e-05 9.99927807e-01 6.14043756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.280281693 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:67.19, Y:4.66, Z:0.61 [[ 9.90248510e-01 -1.38804487e-01 -1.18829189e-02 6.71944995e+01] [ 1.38793089e-01 9.90319797e-01 -1.78250046e-03 4.66313101e+00] [ 1.20153089e-02 1.15851404e-04 9.99927807e-01 6.13676216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34028169300001 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:67.25, Y:4.67, Z:0.61 [[ 9.90255846e-01 -1.38752165e-01 -1.18825932e-02 6.72517620e+01] [ 1.38740738e-01 9.90327129e-01 -1.78466928e-03 4.66859757e+00] [ 1.20152811e-02 1.18679436e-04 9.99927807e-01 6.13735605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.400281693 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:67.31, Y:4.68, Z:0.61 [[ 9.89982551e-01 -1.40688865e-01 -1.18824520e-02 6.73092061e+01] [ 1.40677566e-01 9.90053854e-01 -1.78560872e-03 4.67624150e+00] [ 1.20154827e-02 9.61270488e-05 9.99927807e-01 6.14124940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.460281693 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:67.37, Y:4.68, Z:0.61 [[ 9.90242346e-01 -1.38848521e-01 -1.18821213e-02 6.73658125e+01] [ 1.38837063e-01 9.90313624e-01 -1.78780653e-03 4.68114721e+00] [ 1.20152609e-02 1.20682907e-04 9.99927807e-01 6.11559618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.520281693 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:67.42, Y:4.69, Z:0.61 [[ 9.90622442e-01 -1.36110236e-01 -1.18819783e-02 6.74233463e+01] [ 1.36098569e-01 9.90693686e-01 -1.78875653e-03 4.68688747e+00] [ 1.20148689e-02 1.54862114e-04 9.99927807e-01 6.11032540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.580281693 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:67.48, Y:4.69, Z:0.61 [[ 9.91016698e-01 -1.33209352e-01 -1.18816569e-02 6.74797043e+01] [ 1.33197452e-01 9.91087903e-01 -1.79088902e-03 4.69309139e+00] [ 1.20143296e-02 1.92194510e-04 9.99927807e-01 6.13127644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.640281693 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:67.54, Y:4.70, Z:0.61 [[ 9.90959473e-01 -1.33634402e-01 -1.18815171e-02 6.75374261e+01] [ 1.33622521e-01 9.91030681e-01 -1.79181585e-03 4.70102532e+00] [ 1.20143962e-02 1.87978618e-04 9.99927807e-01 6.09709587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70028169300001 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:67.59, Y:4.71, Z:0.61 [[ 9.90781653e-01 -1.34946486e-01 -1.18811946e-02 6.75943369e+01] [ 1.34934674e-01 9.90852873e-01 -1.79395158e-03 4.70798309e+00] [ 1.20146033e-02 1.74229192e-04 9.99927807e-01 6.12711088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.760281693 meters Centerline goodness : 0.999280 with order 1 Centerline is valid? [True, True] Translation: X:67.65, Y:4.71, Z:0.62 [[ 9.90272103e-01 -1.38636223e-01 -1.18810949e-02 6.76514730e+01] [ 1.38624668e-01 9.90343365e-01 -1.79461187e-03 4.71407503e+00] [ 1.20151617e-02 1.30141235e-04 9.99927807e-01 6.15647525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.820281693 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:67.71, Y:4.72, Z:0.61 [[ 9.89786045e-01 -1.42064877e-01 -1.18808783e-02 6.77093567e+01] [ 1.42053552e-01 9.89857345e-01 -1.79604490e-03 4.71941411e+00] [ 1.20155295e-02 8.99792225e-05 9.99927807e-01 6.12477778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.880281693 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:67.77, Y:4.72, Z:0.61 [[ 9.89223349e-01 -1.45931555e-01 -1.18805314e-02 6.77665560e+01] [ 1.45920481e-01 9.89294688e-01 -1.79833624e-03 4.72141045e+00] [ 1.20157806e-02 4.53433436e-05 9.99927807e-01 6.13913921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.940281693 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:67.82, Y:4.73, Z:0.62 [[ 9.89578831e-01 -1.43501216e-01 -1.18801887e-02 6.78243567e+01] [ 1.43489940e-01 9.89650138e-01 -1.80059760e-03 4.73002974e+00] [ 1.20156183e-02 7.71457073e-05 9.99927807e-01 6.16758236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.000281693 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:67.88, Y:4.74, Z:0.62 [[ 9.90351658e-01 -1.38066881e-01 -1.18798471e-02 6.78806236e+01] [ 1.38055186e-01 9.90422897e-01 -1.80284829e-03 4.73950085e+00] [ 1.20149862e-02 1.45379286e-04 9.99927807e-01 6.15499769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06028169300001 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:67.94, Y:4.75, Z:0.62 [[ 9.90640691e-01 -1.35977552e-01 -1.18797014e-02 6.79379518e+01] [ 1.35965696e-01 9.90711904e-01 -1.80380822e-03 4.75038291e+00] [ 1.20146390e-02 1.71693958e-04 9.99927807e-01 6.19163225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.120281693 meters Centerline goodness : 0.998977 with order 1 Centerline is valid? [True, True] Translation: X:67.99, Y:4.77, Z:0.62 [[ 9.91342830e-01 -1.30760369e-01 -1.18793406e-02 6.79930758e+01] [ 1.30748110e-01 9.91413975e-01 -1.80618117e-03 4.76562499e+00] [ 1.20135212e-02 2.37343423e-04 9.99927807e-01 6.17778643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.180281693 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:68.05, Y:4.79, Z:0.62 [[ 9.91982340e-01 -1.25817016e-01 -1.18791851e-02 6.80484991e+01] [ 1.25804390e-01 9.92053421e-01 -1.80720288e-03 4.78672884e+00] [ 1.20121631e-02 2.98259706e-04 9.99927807e-01 6.17647914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.240281693 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:68.10, Y:4.80, Z:0.62 [[ 9.92169667e-01 -1.24331187e-01 -1.18788589e-02 6.81044576e+01] [ 1.24318428e-01 9.92240724e-01 -1.80934439e-03 4.80180646e+00] [ 1.20116455e-02 3.18415544e-04 9.99927807e-01 6.15287293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.300281693 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:68.16, Y:4.82, Z:0.62 [[ 9.92122751e-01 -1.24705045e-01 -1.18785348e-02 6.81596002e+01] [ 1.24692288e-01 9.92193808e-01 -1.81146986e-03 4.82319934e+00] [ 1.20117081e-02 3.16038774e-04 9.99927807e-01 6.18177535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.360281693 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:68.22, Y:4.84, Z:0.63 [[ 9.92123723e-01 -1.24697337e-01 -1.18782041e-02 6.82155104e+01] [ 1.24684553e-01 9.92194776e-01 -1.81363598e-03 4.84437226e+00] [ 1.20116476e-02 3.18322713e-04 9.99927807e-01 6.25086231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.420281693 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:68.27, Y:4.86, Z:0.63 [[ 9.92271777e-01 -1.23513709e-01 -1.18779013e-02 6.82708026e+01] [ 1.23500817e-01 9.92342810e-01 -1.81561687e-03 4.86030869e+00] [ 1.20112035e-02 3.34654868e-04 9.99927807e-01 6.25080390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48028169300001 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:68.33, Y:4.88, Z:0.62 [[ 9.91991328e-01 -1.25746267e-01 -1.18777520e-02 6.83268238e+01] [ 1.25733523e-01 9.92062388e-01 -1.81659327e-03 4.87938607e+00] [ 1.20119008e-02 3.08613176e-04 9.99927807e-01 6.24248978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.540281693 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:68.38, Y:4.89, Z:0.63 [[ 9.91353765e-01 -1.30677615e-01 -1.18774094e-02 6.83828351e+01] [ 1.30665198e-01 9.91424883e-01 -1.81883008e-03 4.89307403e+00] [ 1.20132396e-02 2.51139991e-04 9.99927807e-01 6.27511307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.600281693 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:68.44, Y:4.90, Z:0.63 [[ 9.90087179e-01 -1.39951094e-01 -1.18772613e-02 6.84395153e+01] [ 1.39939332e-01 9.90158407e-01 -1.81979690e-03 4.90344974e+00] [ 1.20150527e-02 1.39661572e-04 9.99927807e-01 6.28806829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.660281693 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:68.50, Y:4.92, Z:0.63 [[ 9.89491047e-01 -1.44105538e-01 -1.18769257e-02 6.84967499e+01] [ 1.44094048e-01 9.89562320e-01 -1.82198479e-03 4.91548967e+00] [ 1.20155162e-02 9.14433448e-05 9.99927807e-01 6.28732969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.720281693 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:68.55, Y:4.93, Z:0.62 [[ 9.89541701e-01 -1.43757322e-01 -1.18765944e-02 6.85537990e+01] [ 1.43745782e-01 9.89612966e-01 -1.82414124e-03 4.92796685e+00] [ 1.20154655e-02 9.78534646e-05 9.99927807e-01 6.23755810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.780281693 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:68.61, Y:4.94, Z:0.62 [[ 9.89125397e-01 -1.46594350e-01 -1.18762650e-02 6.86106291e+01] [ 1.46582988e-01 9.89196690e-01 -1.82628378e-03 4.93540715e+00] [ 1.20156849e-02 6.55652578e-05 9.99927807e-01 6.23774762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84028169300001 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:68.67, Y:4.94, Z:0.63 [[ 9.88180796e-01 -1.52832172e-01 -1.18761223e-02 6.86679270e+01] [ 1.52821249e-01 9.88252158e-01 -1.82721097e-03 4.94106890e+00] [ 1.20158601e-02 -9.30905366e-06 9.99927807e-01 6.27694247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.900281693 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:68.73, Y:4.95, Z:0.63 [[ 9.87831431e-01 -1.55074255e-01 -1.18760214e-02 6.87257366e+01] [ 1.55063486e-01 9.87902816e-01 -1.82786669e-03 4.94960995e+00] [ 1.20158100e-02 -3.59131075e-05 9.99927807e-01 6.26813988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.960281693 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:68.78, Y:4.96, Z:0.63 [[ 9.87758317e-01 -1.55539302e-01 -1.18757028e-02 6.87830199e+01] [ 1.55528542e-01 9.87829704e-01 -1.82993402e-03 4.95771616e+00] [ 1.20157987e-02 -3.94781962e-05 9.99927807e-01 6.26588676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.020281693 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:68.84, Y:4.97, Z:0.63 [[ 9.88292197e-01 -1.52110189e-01 -1.18753869e-02 6.88403215e+01] [ 1.52099156e-01 9.88363542e-01 -1.83198225e-03 4.96567992e+00] [ 1.20158626e-02 4.29744053e-06 9.99927807e-01 6.31261346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.080281693 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:68.90, Y:4.98, Z:0.63 [[ 9.88705208e-01 -1.49402124e-01 -1.18750726e-02 6.88976149e+01] [ 1.49390872e-01 9.88776519e-01 -1.83401702e-03 4.97672949e+00] [ 1.20157990e-02 3.92747281e-05 9.99927807e-01 6.27677686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.140281693 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:68.95, Y:4.99, Z:0.63 [[ 9.89000933e-01 -1.47431833e-01 -1.18747601e-02 6.89530559e+01] [ 1.47420414e-01 9.89072217e-01 -1.83603851e-03 4.98923189e+00] [ 1.20156858e-02 6.52617572e-05 9.99927807e-01 6.27481932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20028169300001 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:69.01, Y:5.00, Z:0.63 [[ 9.89097506e-01 -1.46782557e-01 -1.18745478e-02 6.90093140e+01] [ 1.46771075e-01 9.89168780e-01 -1.83741019e-03 5.00275204e+00] [ 1.20156317e-02 7.45376844e-05 9.99927807e-01 6.30727085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.260281693 meters Centerline goodness : 0.998897 with order 1 Centerline is valid? [True, True] Translation: X:69.07, Y:5.01, Z:0.64 [[ 9.89013806e-01 -1.47345490e-01 -1.18742394e-02 6.90659566e+01] [ 1.47334025e-01 9.89085083e-01 -1.83940084e-03 5.01451493e+00] [ 1.20156605e-02 6.97133411e-05 9.99927807e-01 6.36052962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.320281693 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:69.12, Y:5.03, Z:0.63 [[ 9.88879943e-01 -1.48241250e-01 -1.18739332e-02 6.91228157e+01] [ 1.48229826e-01 9.88951226e-01 -1.84137535e-03 5.02838541e+00] [ 1.20157086e-02 6.08280937e-05 9.99927807e-01 6.32834024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.380281693 meters Centerline goodness : 0.998935 with order 1 Centerline is valid? [True, True] Translation: X:69.18, Y:5.05, Z:0.63 [[ 9.89213788e-01 -1.45996917e-01 -1.18735918e-02 6.91790034e+01] [ 1.45985305e-01 9.89285041e-01 -1.84357424e-03 5.04664548e+00] [ 1.20155229e-02 9.03191362e-05 9.99927807e-01 6.33119092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.440281693 meters Centerline goodness : 0.998825 with order 1 Centerline is valid? [True, True] Translation: X:69.23, Y:5.06, Z:0.64 [[ 9.89352483e-01 -1.45054094e-01 -1.18732432e-02 6.92334687e+01] [ 1.45042387e-01 9.89423721e-01 -1.84581668e-03 5.06492426e+00] [ 1.20154117e-02 1.04039777e-04 9.99927807e-01 6.35170391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.500281693 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:69.29, Y:5.08, Z:0.64 [[ 9.88942735e-01 -1.47821844e-01 -1.18730923e-02 6.92901123e+01] [ 1.47810324e-01 9.89014003e-01 -1.84678720e-03 5.08085790e+00] [ 1.20156500e-02 7.14011711e-05 9.99927807e-01 6.36689312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56028169300001 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:69.35, Y:5.09, Z:0.64 [[ 9.87989360e-01 -1.54065125e-01 -1.18727481e-02 6.93461470e+01] [ 1.54054029e-01 9.88060695e-01 -1.84899730e-03 5.09338522e+00] [ 1.20158617e-02 -2.25502174e-06 9.99927807e-01 6.37304774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.620281693 meters Centerline goodness : 0.998720 with order 1 Centerline is valid? [True, True] Translation: X:69.40, Y:5.10, Z:0.64 [[ 9.86795241e-01 -1.61536974e-01 -1.18725994e-02 6.94032379e+01] [ 1.61526407e-01 9.86866656e-01 -1.84995129e-03 5.10209689e+00] [ 1.20155080e-02 -9.22151947e-05 9.99927807e-01 6.37131817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.680281693 meters Centerline goodness : 0.999023 with order 1 Centerline is valid? [True, True] Translation: X:69.46, Y:5.11, Z:0.64 [[ 9.86548792e-01 -1.63035367e-01 -1.18722609e-02 6.94600860e+01] [ 1.63024882e-01 9.86620219e-01 -1.85212115e-03 5.11037660e+00] [ 1.20153739e-02 -1.08266056e-04 9.99927807e-01 6.41847888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.740281693 meters Centerline goodness : 0.998813 with order 1 Centerline is valid? [True, True] Translation: X:69.52, Y:5.12, Z:0.64 [[ 9.86288583e-01 -1.64602211e-01 -1.18719181e-02 6.95173902e+01] [ 1.64591813e-01 9.86360024e-01 -1.85431584e-03 5.11967758e+00] [ 1.20152099e-02 -1.25129989e-04 9.99927807e-01 6.42970864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.800281693 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:69.58, Y:5.13, Z:0.64 [[ 9.85798434e-01 -1.67512727e-01 -1.18715780e-02 6.95752418e+01] [ 1.67502514e-01 9.85869901e-01 -1.85649092e-03 5.12570701e+00] [ 1.20148173e-02 -1.58393314e-04 9.99927807e-01 6.43877159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.860281693 meters Centerline goodness : 0.998541 with order 1 Centerline is valid? [True, True] Translation: X:69.63, Y:5.13, Z:0.65 [[ 9.85846272e-01 -1.67230981e-01 -1.18712403e-02 6.96322609e+01] [ 1.67220722e-01 9.85917733e-01 -1.85864742e-03 5.13279138e+00] [ 1.20148898e-02 -1.52776747e-04 9.99927807e-01 6.46504478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.920281693 meters Centerline goodness : 0.998718 with order 1 Centerline is valid? [True, True] Translation: X:69.69, Y:5.14, Z:0.64 [[ 9.86241088e-01 -1.64886605e-01 -1.18710948e-02 6.96895822e+01] [ 1.64876165e-01 9.86312523e-01 -1.85957659e-03 5.14111736e+00] [ 1.20152287e-02 -1.23269742e-04 9.99927807e-01 6.42509202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98028169300001 meters Centerline goodness : 0.998440 with order 1 Centerline is valid? [True, True] Translation: X:69.75, Y:5.15, Z:0.64 [[ 9.86950058e-01 -1.60588507e-01 -1.18707502e-02 6.97469403e+01] [ 1.60577729e-01 9.87021442e-01 -1.86177388e-03 5.15158544e+00] [ 1.20156644e-02 -6.87002675e-05 9.99927807e-01 6.39216720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.040281693 meters Centerline goodness : 0.998879 with order 1 Centerline is valid? [True, True] Translation: X:69.80, Y:5.16, Z:0.65 [[ 9.88353573e-01 -1.51711246e-01 -1.18706435e-02 6.98044063e+01] [ 1.51699819e-01 9.88424856e-01 -1.86245379e-03 5.16267356e+00] [ 1.20157943e-02 3.99883980e-05 9.99927807e-01 6.47025818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.100281693 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:69.86, Y:5.17, Z:0.65 [[ 9.88141140e-01 -1.53088805e-01 -1.18703458e-02 6.98604855e+01] [ 1.53077454e-01 9.88212435e-01 -1.86434919e-03 5.17260031e+00] [ 1.20158343e-02 2.51578181e-05 9.99927807e-01 6.48649862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.160281693 meters Centerline goodness : 0.998409 with order 1 Centerline is valid? [True, True] Translation: X:69.92, Y:5.18, Z:0.64 [[ 9.87423513e-01 -1.57651209e-01 -1.18701974e-02 6.99186576e+01] [ 1.57640176e-01 9.87494858e-01 -1.86529331e-03 5.17834467e+00] [ 1.20158247e-02 -2.93855437e-05 9.99927807e-01 6.42637971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.220281693 meters Centerline goodness : 0.998534 with order 1 Centerline is valid? [True, True] Translation: X:69.98, Y:5.18, Z:0.65 [[ 9.86842250e-01 -1.61249742e-01 -1.18698522e-02 6.99752944e+01] [ 1.61238943e-01 9.86913631e-01 -1.86748762e-03 5.18176196e+00] [ 1.20156509e-02 -7.09667427e-05 9.99927807e-01 6.50300768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.280281693 meters Centerline goodness : 0.998695 with order 1 Centerline is valid? [True, True] Translation: X:70.03, Y:5.18, Z:0.65 [[ 9.87267765e-01 -1.58623674e-01 -1.18697033e-02 7.00341347e+01] [ 1.58612674e-01 9.87339115e-01 -1.86843391e-03 5.18220618e+00] [ 1.20158002e-02 -3.80408076e-05 9.99927807e-01 6.45373315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34028169300001 meters Centerline goodness : 0.998555 with order 1 Centerline is valid? [True, True] Translation: X:70.09, Y:5.19, Z:0.65 [[ 9.88598277e-01 -1.50108514e-01 -1.18693555e-02 7.00910671e+01] [ 1.50096873e-01 9.88669525e-01 -1.87064017e-03 5.18662638e+00] [ 1.20156691e-02 6.77584920e-05 9.99927807e-01 6.45637254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.400281693 meters Centerline goodness : 0.998664 with order 1 Centerline is valid? [True, True] Translation: X:70.15, Y:5.19, Z:0.65 [[ 9.89344242e-01 -1.45110626e-01 -1.18691178e-02 7.01492628e+01] [ 1.45098607e-01 9.89415428e-01 -1.87214741e-03 5.18988839e+00] [ 1.20151568e-02 1.30005797e-04 9.99927807e-01 6.47087111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.460281693 meters Centerline goodness : 0.998578 with order 1 Centerline is valid? [True, True] Translation: X:70.21, Y:5.20, Z:0.65 [[ 9.89591050e-01 -1.43417870e-01 -1.18687831e-02 7.02054944e+01] [ 1.43405703e-01 9.89662211e-01 -1.87426670e-03 5.19593955e+00] [ 1.20148895e-02 1.52706355e-04 9.99927807e-01 6.50524949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.520281693 meters Centerline goodness : 0.998531 with order 1 Centerline is valid? [True, True] Translation: X:70.26, Y:5.20, Z:0.65 [[ 9.89541185e-01 -1.43761531e-01 -1.18686379e-02 7.02629037e+01] [ 1.43749379e-01 9.89612348e-01 -1.87518595e-03 5.20324761e+00] [ 1.20149302e-02 1.49464406e-04 9.99927807e-01 6.47336124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.580281693 meters Centerline goodness : 0.998605 with order 1 Centerline is valid? [True, True] Translation: X:70.32, Y:5.21, Z:0.65 [[ 9.89232532e-01 -1.45870287e-01 -1.18683049e-02 7.03201482e+01] [ 1.45858261e-01 9.89303716e-01 -1.87729113e-03 5.21037939e+00] [ 1.20151992e-02 1.25987140e-04 9.99927807e-01 6.47034785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.640281693 meters Centerline goodness : 0.998312 with order 1 Centerline is valid? [True, True] Translation: X:70.38, Y:5.22, Z:0.65 [[ 9.88618076e-01 -1.49978167e-01 -1.18679754e-02 7.03764508e+01] [ 1.49966412e-01 9.88689306e-01 -1.87937204e-03 5.21633512e+00] [ 1.20156051e-02 7.81834894e-05 9.99927807e-01 6.49405674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70028169300001 meters Centerline goodness : 0.998834 with order 1 Centerline is valid? [True, True] Translation: X:70.43, Y:5.22, Z:0.65 [[ 9.88191437e-01 -1.52764004e-01 -1.18677514e-02 7.04340215e+01] [ 1.52752432e-01 9.88262696e-01 -1.88078519e-03 5.22222245e+00] [ 1.20157723e-02 4.57479203e-05 9.99927807e-01 6.48833450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.760281693 meters Centerline goodness : 0.998598 with order 1 Centerline is valid? [True, True] Translation: X:70.49, Y:5.23, Z:0.65 [[ 9.88051427e-01 -1.53666984e-01 -1.18674267e-02 7.04902336e+01] [ 1.53655453e-01 9.88122693e-01 -1.88283174e-03 5.22938129e+00] [ 1.20158027e-02 3.68397545e-05 9.99927807e-01 6.49773343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.820281693 meters Centerline goodness : 0.998527 with order 1 Centerline is valid? [True, True] Translation: X:70.55, Y:5.24, Z:0.65 [[ 9.87982787e-01 -1.54107690e-01 -1.18672860e-02 7.05468923e+01] [ 1.54096180e-01 9.88054057e-01 -1.88371821e-03 5.23910190e+00] [ 1.20158156e-02 3.23777170e-05 9.99927807e-01 6.53281982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.880281693 meters Centerline goodness : 0.998423 with order 1 Centerline is valid? [True, True] Translation: X:70.60, Y:5.25, Z:0.65 [[ 9.87951837e-01 -1.54306003e-01 -1.18669469e-02 7.06036430e+01] [ 1.54294482e-01 9.88023105e-01 -1.88585205e-03 5.24909589e+00] [ 1.20158160e-02 3.21265698e-05 9.99927807e-01 6.50614216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.940281693 meters Centerline goodness : 0.998470 with order 1 Centerline is valid? [True, True] Translation: X:70.66, Y:5.26, Z:0.65 [[ 9.87797327e-01 -1.55292059e-01 -1.18666076e-02 7.06612409e+01] [ 1.55280584e-01 9.87868603e-01 -1.88798483e-03 5.25893845e+00] [ 1.20158381e-02 2.22926226e-05 9.99927807e-01 6.51794544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.000281693 meters Centerline goodness : 0.998559 with order 1 Centerline is valid? [True, True] Translation: X:70.72, Y:5.27, Z:0.65 [[ 9.87478600e-01 -1.57306093e-01 -1.18662670e-02 7.07187139e+01] [ 1.57294737e-01 9.87549894e-01 -1.89012306e-03 5.26681514e+00] [ 1.20158586e-02 -4.52810302e-08 9.99927807e-01 6.54430748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06028169300001 meters Centerline goodness : 0.998607 with order 1 Centerline is valid? [True, True] Translation: X:70.78, Y:5.28, Z:0.66 [[ 9.87073432e-01 -1.59828782e-01 -1.18659265e-02 7.07757325e+01] [ 1.59817582e-01 9.87144751e-01 -1.89225822e-03 5.27563595e+00] [ 1.20158244e-02 -2.85858695e-05 9.99927807e-01 6.56374352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.120281693 meters Centerline goodness : 0.998775 with order 1 Centerline is valid? [True, True] Translation: X:70.83, Y:5.28, Z:0.65 [[ 9.87496190e-01 -1.57195685e-01 -1.18655834e-02 7.08335405e+01] [ 1.57184270e-01 9.87567474e-01 -1.89440742e-03 5.28137567e+00] [ 1.20158569e-02 5.63704698e-06 9.99927807e-01 6.54557962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.180281693 meters Centerline goodness : 0.998810 with order 1 Centerline is valid? [True, True] Translation: X:70.89, Y:5.29, Z:0.66 [[ 9.88703038e-01 -1.49417265e-01 -1.18652410e-02 7.08912144e+01] [ 1.49405263e-01 9.88774226e-01 -1.89654948e-03 5.28922278e+00] [ 1.20154217e-02 1.02394777e-04 9.99927807e-01 6.56384918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.240281693 meters Centerline goodness : 0.998745 with order 1 Centerline is valid? [True, True] Translation: X:70.95, Y:5.30, Z:0.66 [[ 9.89675683e-01 -1.42833003e-01 -1.18648976e-02 7.09484130e+01] [ 1.42820502e-01 9.89746785e-01 -1.89869552e-03 5.29664370e+00] [ 1.20144406e-02 1.84542161e-04 9.99927807e-01 6.56777535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.300281693 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:71.00, Y:5.30, Z:0.66 [[ 9.90162416e-01 -1.39418875e-01 -1.18645402e-02 7.10044641e+01] [ 1.39406102e-01 9.90233470e-01 -1.90092589e-03 5.30477911e+00] [ 1.20136898e-02 2.28236062e-04 9.99927807e-01 6.59036663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.360281693 meters Centerline goodness : 0.998480 with order 1 Centerline is valid? [True, True] Translation: X:71.06, Y:5.32, Z:0.66 [[ 9.90786112e-01 -1.34915220e-01 -1.18643853e-02 7.10605519e+01] [ 1.34902112e-01 9.90857105e-01 -1.90189252e-03 5.31592567e+00] [ 1.20125047e-02 2.83838064e-04 9.99927807e-01 6.58043839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.420281693 meters Centerline goodness : 0.998547 with order 1 Centerline is valid? [True, True] Translation: X:71.12, Y:5.33, Z:0.66 [[ 9.91227630e-01 -1.31632156e-01 -1.18642373e-02 7.11168026e+01] [ 1.31618803e-01 9.91298578e-01 -1.90281534e-03 5.33094363e+00] [ 1.20114732e-02 3.24566433e-04 9.99927807e-01 6.60539171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48028169300001 meters Centerline goodness : 0.998183 with order 1 Centerline is valid? [True, True] Translation: X:71.17, Y:5.35, Z:0.66 [[ 9.91254310e-01 -1.31431128e-01 -1.18638725e-02 7.11729817e+01] [ 1.31417733e-01 9.91325249e-01 -1.90508673e-03 5.34628612e+00] [ 1.20113441e-02 3.29302199e-04 9.99927807e-01 6.56763693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.540281693 meters Centerline goodness : 0.997957 with order 1 Centerline is valid? [True, True] Translation: X:71.23, Y:5.36, Z:0.65 [[ 9.91257390e-01 -1.31407905e-01 -1.18637599e-02 7.12300825e+01] [ 1.31394500e-01 9.91328328e-01 -1.90578772e-03 5.35800081e+00] [ 1.20113169e-02 3.30293363e-04 9.99927807e-01 6.52531705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.600281693 meters Centerline goodness : 0.998056 with order 1 Centerline is valid? [True, True] Translation: X:71.29, Y:5.37, Z:0.66 [[ 9.91183107e-01 -1.31967050e-01 -1.18636486e-02 7.12860427e+01] [ 1.31953676e-01 9.91254051e-01 -1.90648034e-03 5.37286435e+00] [ 1.20114823e-02 3.24219060e-04 9.99927807e-01 6.59237667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.660281693 meters Centerline goodness : 0.997822 with order 1 Centerline is valid? [True, True] Translation: X:71.34, Y:5.39, Z:0.66 [[ 9.91100326e-01 -1.32587332e-01 -1.18635394e-02 7.13422950e+01] [ 1.32573995e-01 9.91171276e-01 -1.90715944e-03 5.38624934e+00] [ 1.20116647e-02 3.17389525e-04 9.99927807e-01 6.61630737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.720281693 meters Centerline goodness : 0.997727 with order 1 Centerline is valid? [True, True] Translation: X:71.40, Y:5.40, Z:0.66 [[ 9.91057666e-01 -1.32905858e-01 -1.18631815e-02 7.13982889e+01] [ 1.32892517e-01 9.91128616e-01 -1.90938357e-03 5.40042426e+00] [ 1.20117069e-02 3.15781177e-04 9.99927807e-01 6.58640078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.780281693 meters Centerline goodness : 0.998004 with order 1 Centerline is valid? [True, True] Translation: X:71.45, Y:5.42, Z:0.66 [[ 9.90920948e-01 -1.33921423e-01 -1.18628156e-02 7.14536179e+01] [ 1.33908127e-01 9.90991907e-01 -1.91165400e-03 5.41900014e+00] [ 1.20119657e-02 3.05770571e-04 9.99927807e-01 6.64040884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84028169300001 meters Centerline goodness : 0.997812 with order 1 Centerline is valid? [True, True] Translation: X:71.51, Y:5.43, Z:0.67 [[ 9.90765672e-01 -1.35065393e-01 -1.18627023e-02 7.15099648e+01] [ 1.35052171e-01 9.90836643e-01 -1.91235703e-03 5.43223178e+00] [ 1.20122933e-02 2.92613999e-04 9.99927807e-01 6.65502488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.900281693 meters Centerline goodness : 0.997798 with order 1 Centerline is valid? [True, True] Translation: X:71.56, Y:5.45, Z:0.67 [[ 9.90219283e-01 -1.39014592e-01 -1.18623457e-02 7.15646713e+01] [ 1.39001627e-01 9.90290302e-01 -1.91456643e-03 5.45044583e+00] [ 1.20133185e-02 2.46955246e-04 9.99927807e-01 6.65737647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.960281693 meters Centerline goodness : 0.997833 with order 1 Centerline is valid? [True, True] Translation: X:71.62, Y:5.47, Z:0.67 [[ 9.89255056e-01 -1.45717955e-01 -1.18621916e-02 7.16208459e+01] [ 1.45705459e-01 9.89326160e-01 -1.91552042e-03 5.46645328e+00] [ 1.20147022e-02 1.66552181e-04 9.99927807e-01 6.65297857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.020281693 meters Centerline goodness : 0.997832 with order 1 Centerline is valid? [True, True] Translation: X:71.68, Y:5.48, Z:0.66 [[ 9.87496357e-01 -1.57194917e-01 -1.18618295e-02 7.16776869e+01] [ 1.57183221e-01 9.87567596e-01 -1.91775996e-03 5.47935986e+00] [ 1.20158206e-02 2.93004057e-05 9.99927807e-01 6.61363603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.080281693 meters Centerline goodness : 0.997909 with order 1 Centerline is valid? [True, True] Translation: X:71.74, Y:5.49, Z:0.67 [[ 9.85297796e-01 -1.70433428e-01 -1.18617183e-02 7.17357886e+01] [ 1.70422681e-01 9.85369184e-01 -1.91844798e-03 5.48620361e+00] [ 1.20151393e-02 -1.31263256e-04 9.99927807e-01 6.65833293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.140281693 meters Centerline goodness : 0.997959 with order 1 Centerline is valid? [True, True] Translation: X:71.79, Y:5.49, Z:0.67 [[ 9.83305428e-01 -1.81575720e-01 -1.18614124e-02 7.17937900e+01] [ 1.81565759e-01 9.83376930e-01 -1.92033729e-03 5.48630157e+00] [ 1.20129259e-02 -2.65348266e-04 9.99927807e-01 6.68012102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20028169300001 meters Centerline goodness : 0.997864 with order 1 Centerline is valid? [True, True] Translation: X:71.85, Y:5.48, Z:0.67 [[ 9.82024662e-01 -1.88379600e-01 -1.18612612e-02 7.18530244e+01] [ 1.88370123e-01 9.82096230e-01 -1.92127072e-03 5.48334210e+00] [ 1.20108281e-02 -3.47571996e-04 9.99927807e-01 6.65900791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.260281693 meters Centerline goodness : 0.998066 with order 1 Centerline is valid? [True, True] Translation: X:71.91, Y:5.49, Z:0.67 [[ 9.82196583e-01 -1.87481175e-01 -1.18609178e-02 7.19119358e+01] [ 1.87471607e-01 9.82268139e-01 -1.92338828e-03 5.48583531e+00] [ 1.20112008e-02 -3.34439924e-04 9.99927807e-01 6.70966873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.320281693 meters Centerline goodness : 0.998103 with order 1 Centerline is valid? [True, True] Translation: X:71.97, Y:5.49, Z:0.67 [[ 9.83238657e-01 -1.81936992e-01 -1.18606166e-02 7.19700305e+01] [ 1.81926998e-01 9.83310155e-01 -1.92524385e-03 5.48735539e+00] [ 1.20129378e-02 -2.64792192e-04 9.99927807e-01 6.67984273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.380281693 meters Centerline goodness : 0.998398 with order 1 Centerline is valid? [True, True] Translation: X:72.03, Y:5.49, Z:0.67 [[ 9.83887095e-01 -1.78397064e-01 -1.18605104e-02 7.20277590e+01] [ 1.78386805e-01 9.83958555e-01 -1.92589783e-03 5.49265598e+00] [ 1.20138252e-02 -2.20892537e-04 9.99927807e-01 6.71900324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.440281693 meters Centerline goodness : 0.998402 with order 1 Centerline is valid? [True, True] Translation: X:72.09, Y:5.50, Z:0.68 [[ 9.83856960e-01 -1.78563209e-01 -1.18601656e-02 7.20852173e+01] [ 1.78552937e-01 9.83928418e-01 -1.92801920e-03 5.49633191e+00] [ 1.20138272e-02 -2.20772283e-04 9.99927807e-01 6.77573164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.500281693 meters Centerline goodness : 0.998401 with order 1 Centerline is valid? [True, True] Translation: X:72.14, Y:5.50, Z:0.68 [[ 9.84438865e-01 -1.75326722e-01 -1.18600592e-02 7.21417772e+01] [ 1.75316207e-01 9.84510288e-01 -1.92867349e-03 5.50260361e+00] [ 1.20144983e-02 -1.80599445e-04 9.99927807e-01 6.76051643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56028169300001 meters Centerline goodness : 0.998350 with order 1 Centerline is valid? [True, True] Translation: X:72.20, Y:5.51, Z:0.68 [[ 9.85134767e-01 -1.71373380e-01 -1.18598310e-02 7.21993802e+01] [ 1.71362561e-01 9.85206145e-01 -1.93007515e-03 5.51148756e+00] [ 1.20151419e-02 -1.30946881e-04 9.99927807e-01 6.78654495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.620281693 meters Centerline goodness : 0.998469 with order 1 Centerline is valid? [True, True] Translation: X:72.26, Y:5.52, Z:0.68 [[ 9.85037145e-01 -1.71933638e-01 -1.18594973e-02 7.22562534e+01] [ 1.71922835e-01 9.85108525e-01 -1.93212371e-03 5.51986659e+00] [ 1.20150890e-02 -1.35704780e-04 9.99927807e-01 6.80694381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.680281693 meters Centerline goodness : 0.998649 with order 1 Centerline is valid? [True, True] Translation: X:72.31, Y:5.52, Z:0.68 [[ 9.84161183e-01 -1.76878845e-01 -1.18591632e-02 7.23148626e+01] [ 1.76868376e-01 9.84232613e-01 -1.93417252e-03 5.52037649e+00] [ 1.20142893e-02 -1.93973409e-04 9.99927807e-01 6.81924640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.740281693 meters Centerline goodness : 0.998408 with order 1 Centerline is valid? [True, True] Translation: X:72.37, Y:5.52, Z:0.68 [[ 9.82708946e-01 -1.84776879e-01 -1.18588308e-02 7.23747929e+01] [ 1.84766959e-01 9.82780455e-01 -1.93620784e-03 5.51553928e+00] [ 1.20123936e-02 -2.88391352e-04 9.99927807e-01 6.83138742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.800281693 meters Centerline goodness : 0.998430 with order 1 Centerline is valid? [True, True] Translation: X:72.43, Y:5.51, Z:0.68 [[ 9.82270835e-01 -1.87091911e-01 -1.18584763e-02 7.24340210e+01] [ 1.87082134e-01 9.82342363e-01 -1.93837707e-03 5.51310793e+00] [ 1.20117383e-02 -3.14497784e-04 9.99927807e-01 6.82687589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.860281693 meters Centerline goodness : 0.998392 with order 1 Centerline is valid? [True, True] Translation: X:72.49, Y:5.51, Z:0.68 [[ 9.83571417e-01 -1.80129542e-01 -1.18581213e-02 7.24921219e+01] [ 1.80119232e-01 9.83642870e-01 -1.94054589e-03 5.50988532e+00] [ 1.20137062e-02 -2.27210244e-04 9.99927807e-01 6.77575304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.920281693 meters Centerline goodness : 0.998415 with order 1 Centerline is valid? [True, True] Translation: X:72.55, Y:5.51, Z:0.68 [[ 9.84911910e-01 -1.72649698e-01 -1.18579683e-02 7.25508440e+01] [ 1.72638834e-01 9.84983281e-01 -1.94148092e-03 5.51087953e+00] [ 1.20150966e-02 -1.34958140e-04 9.99927807e-01 6.81240871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98028169300001 meters Centerline goodness : 0.998675 with order 1 Centerline is valid? [True, True] Translation: X:72.61, Y:5.51, Z:0.68 [[ 9.85340667e-01 -1.70185684e-01 -1.18576046e-02 7.26083229e+01] [ 1.70174615e-01 9.85412006e-01 -1.94369966e-03 5.51377511e+00] [ 1.20154158e-02 -1.02656970e-04 9.99927807e-01 6.82661033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.040281693 meters Centerline goodness : 0.998696 with order 1 Centerline is valid? [True, True] Translation: X:72.67, Y:5.51, Z:0.68 [[ 9.85265557e-01 -1.70619998e-01 -1.18574466e-02 7.26674648e+01] [ 1.70608949e-01 9.85336899e-01 -1.94466257e-03 5.51097038e+00] [ 1.20153780e-02 -1.06977456e-04 9.99927807e-01 6.83487242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.100281693 meters Centerline goodness : 0.998783 with order 1 Centerline is valid? [True, True] Translation: X:72.73, Y:5.51, Z:0.68 [[ 9.85497496e-01 -1.69275202e-01 -1.18570973e-02 7.27254419e+01] [ 1.69264030e-01 9.85568820e-01 -1.94679032e-03 5.51448648e+00] [ 1.20155287e-02 -8.84230875e-05 9.99927807e-01 6.83570292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.160281693 meters Centerline goodness : 0.998578 with order 1 Centerline is valid? [True, True] Translation: X:72.78, Y:5.52, Z:0.69 [[ 9.86557586e-01 -1.62983273e-01 -1.18567403e-02 7.27829149e+01] [ 1.62971620e-01 9.86628832e-01 -1.94896198e-03 5.51773791e+00] [ 1.20158501e-02 -9.54894681e-06 9.99927807e-01 6.85430533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.220281693 meters Centerline goodness : 0.998821 with order 1 Centerline is valid? [True, True] Translation: X:72.84, Y:5.52, Z:0.69 [[ 9.87323274e-01 -1.58278795e-01 -1.18564975e-02 7.28407593e+01] [ 1.58266785e-01 9.87394461e-01 -1.95043816e-03 5.52127931e+00] [ 1.20157529e-02 4.92232564e-05 9.99927807e-01 6.89024714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.280281693 meters Centerline goodness : 0.998811 with order 1 Centerline is valid? [True, True] Translation: X:72.90, Y:5.52, Z:0.69 [[ 9.87681181e-01 -1.56029860e-01 -1.18561274e-02 7.28996715e+01] [ 1.56017661e-01 9.87752336e-01 -1.95268510e-03 5.52307828e+00] [ 1.20155947e-02 7.88650609e-05 9.99927807e-01 6.89093516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34028169300001 meters Centerline goodness : 0.998787 with order 1 Centerline is valid? [True, True] Translation: X:72.96, Y:5.53, Z:0.69 [[ 9.87969081e-01 -1.54196419e-01 -1.18557533e-02 7.29564655e+01] [ 1.54184060e-01 9.88040209e-01 -1.95495418e-03 5.52800781e+00] [ 1.20154078e-02 1.03466114e-04 9.99927807e-01 6.85980761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.400281693 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:73.01, Y:5.54, Z:0.69 [[ 9.88859709e-01 -1.48377631e-01 -1.18555913e-02 7.30135414e+01] [ 1.48364842e-01 9.88930760e-01 -1.95593581e-03 5.53729588e+00] [ 1.20145760e-02 1.75193183e-04 9.99927807e-01 6.89146436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.460281693 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:73.07, Y:5.55, Z:0.69 [[ 9.89664911e-01 -1.42908426e-01 -1.18552201e-02 7.30702443e+01] [ 1.42895217e-01 9.89735885e-01 -1.95818295e-03 5.55005755e+00] [ 1.20133776e-02 2.43890699e-04 9.99927807e-01 6.93365279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.520281693 meters Centerline goodness : 0.998847 with order 1 Centerline is valid? [True, True] Translation: X:73.13, Y:5.57, Z:0.69 [[ 9.90504539e-01 -1.36967953e-01 -1.18548530e-02 7.31264440e+01] [ 1.36954292e-01 9.90575428e-01 -1.96040280e-03 5.56646357e+00] [ 1.20116385e-02 3.18214867e-04 9.99927807e-01 6.91447176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.580281693 meters Centerline goodness : 0.998965 with order 1 Centerline is valid? [True, True] Translation: X:73.18, Y:5.59, Z:0.69 [[ 9.90496835e-01 -1.37023685e-01 -1.18544861e-02 7.31807100e+01] [ 1.37010002e-01 9.90567720e-01 -1.96261935e-03 5.58579571e+00] [ 1.20115966e-02 3.19785085e-04 9.99927807e-01 6.91220692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.640281693 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:73.24, Y:5.61, Z:0.70 [[ 9.90068783e-01 -1.40083119e-01 -1.18543276e-02 7.32358786e+01] [ 1.40069644e-01 9.90139707e-01 -1.96357606e-03 5.60754197e+00] [ 1.20125043e-02 2.83643917e-04 9.99927807e-01 6.97512947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70028169300001 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:73.29, Y:5.62, Z:0.70 [[ 9.88819755e-01 -1.48643787e-01 -1.18539708e-02 7.32913551e+01] [ 1.48630900e-01 9.88890788e-01 -1.96572790e-03 5.62485977e+00] [ 1.20144757e-02 1.81884232e-04 9.99927807e-01 6.96365939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.760281693 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:73.35, Y:5.64, Z:0.70 [[ 9.88119403e-01 -1.53230340e-01 -1.18535857e-02 7.33479314e+01] [ 1.53217755e-01 9.88190491e-01 -1.96804704e-03 5.63655368e+00] [ 1.20151652e-02 1.28485675e-04 9.99927807e-01 6.95138335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.820281693 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:73.40, Y:5.65, Z:0.69 [[ 9.85334069e-01 -1.70224172e-01 -1.18534662e-02 7.34046992e+01] [ 1.70212804e-01 9.85405361e-01 -1.96876666e-03 5.64585108e+00] [ 1.20156008e-02 -7.77188515e-05 9.99927807e-01 6.93200399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.880281693 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:73.46, Y:5.65, Z:0.70 [[ 9.83427766e-01 -1.80912501e-01 -1.18531106e-02 7.34615889e+01] [ 1.80901882e-01 9.83499174e-01 -1.97090537e-03 5.64992664e+00] [ 1.20140859e-02 -2.06006944e-04 9.99927807e-01 6.95121867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.940281693 meters Centerline goodness : 0.998982 with order 1 Centerline is valid? [True, True] Translation: X:73.52, Y:5.64, Z:0.69 [[ 9.80437135e-01 -1.96475268e-01 -1.18529586e-02 7.35221110e+01] [ 1.96465772e-01 9.80508701e-01 -1.97181907e-03 5.64152046e+00] [ 1.20093427e-02 -3.95456009e-04 9.99927807e-01 6.94973142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.000281693 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:73.58, Y:5.64, Z:0.70 [[ 9.79905449e-01 -1.99110088e-01 -1.18526110e-02 7.35817939e+01] [ 1.99100758e-01 9.79977036e-01 -1.97390603e-03 5.63899741e+00] [ 1.20083112e-02 -4.25622571e-04 9.99927807e-01 6.95347198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06028169300001 meters Centerline goodness : 0.999367 with order 1 Centerline is valid? [True, True] Translation: X:73.64, Y:5.63, Z:0.70 [[ 9.80994320e-01 -1.93674130e-01 -1.18522519e-02 7.36418932e+01] [ 1.93664378e-01 9.81065851e-01 -1.97605992e-03 5.62782115e+00] [ 1.20105513e-02 -3.56855440e-04 9.99927807e-01 6.96768173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.120281693 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:73.70, Y:5.62, Z:0.70 [[ 9.83061854e-01 -1.82890455e-01 -1.18520965e-02 7.37009434e+01] [ 1.82879906e-01 9.83133272e-01 -1.97699133e-03 5.62393777e+00] [ 1.20137633e-02 -2.24005539e-04 9.99927807e-01 6.97771739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.180281693 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:73.76, Y:5.62, Z:0.70 [[ 9.84903313e-01 -1.72699161e-01 -1.18517216e-02 7.37590170e+01] [ 1.72687847e-01 9.84974614e-01 -1.97923669e-03 5.62120852e+00] [ 1.20154574e-02 -9.72914983e-05 9.99927807e-01 6.95626262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.240281693 meters Centerline goodness : 0.999151 with order 1 Centerline is valid? [True, True] Translation: X:73.82, Y:5.62, Z:0.70 [[ 9.86320195e-01 -1.64414166e-01 -1.18513477e-02 7.38171339e+01] [ 1.64402225e-01 9.86391394e-01 -1.98147261e-03 5.62413703e+00] [ 1.20158496e-02 5.97851507e-06 9.99927807e-01 6.95971902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.300281693 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:73.87, Y:5.63, Z:0.69 [[ 9.87565944e-01 -1.56757972e-01 -1.18509725e-02 7.38749311e+01] [ 1.56745452e-01 9.87637043e-01 -1.98371452e-03 5.62998506e+00] [ 1.20154225e-02 1.01462863e-04 9.99927807e-01 6.93469788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.360281693 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:73.93, Y:5.64, Z:0.70 [[ 9.88924515e-01 -1.47945483e-01 -1.18505997e-02 7.39326140e+01] [ 1.47932304e-01 9.88995495e-01 -1.98593865e-03 5.63683492e+00] [ 1.20140004e-02 2.10856893e-04 9.99927807e-01 6.98797353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.420281693 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:73.99, Y:5.64, Z:0.70 [[ 9.89932968e-01 -1.41040014e-01 -1.18504847e-02 7.39896387e+01] [ 1.41026331e-01 9.90003852e-01 -1.98662480e-03 5.64444955e+00] [ 1.20122191e-02 2.95395002e-04 9.99927807e-01 6.96009156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48028169300001 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:74.05, Y:5.65, Z:0.70 [[ 9.90347888e-01 -1.38096451e-01 -1.18503267e-02 7.40473359e+01] [ 1.38082546e-01 9.90418730e-01 -1.98756708e-03 5.65407284e+00] [ 1.20112615e-02 3.32059582e-04 9.99927807e-01 6.95985111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.540281693 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:74.10, Y:5.66, Z:0.70 [[ 9.90385170e-01 -1.37828857e-01 -1.18499805e-02 7.41045953e+01] [ 1.37814909e-01 9.90456002e-01 -1.98962885e-03 5.66176334e+00] [ 1.20111126e-02 3.37394919e-04 9.99927807e-01 6.98522486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.600281693 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:74.16, Y:5.67, Z:0.70 [[ 9.89979637e-01 -1.40712115e-01 -1.18498666e-02 7.41627685e+01] [ 1.40698365e-01 9.90050508e-01 -1.99030675e-03 5.66595195e+00] [ 1.20120268e-02 3.03106297e-04 9.99927807e-01 7.00786117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.660281693 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:74.22, Y:5.67, Z:0.70 [[ 9.89876029e-01 -1.41439162e-01 -1.18494929e-02 7.42203793e+01] [ 1.41425437e-01 9.89946905e-01 -1.99252957e-03 5.67258853e+00] [ 1.20121905e-02 2.96537548e-04 9.99927807e-01 6.98055078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.720281693 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:74.28, Y:5.68, Z:0.70 [[ 9.89680279e-01 -1.42802465e-01 -1.18491148e-02 7.42779324e+01] [ 1.42788812e-01 9.89751169e-01 -1.99477519e-03 5.67914397e+00] [ 1.20125341e-02 2.82268638e-04 9.99927807e-01 6.97714592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.780281693 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:74.33, Y:5.69, Z:0.70 [[ 9.89354539e-01 -1.45042075e-01 -1.18487377e-02 7.43349548e+01] [ 1.45028555e-01 9.89425455e-01 -1.99701300e-03 5.68648391e+00] [ 1.20130936e-02 2.57348578e-04 9.99927807e-01 7.01214108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84028169300001 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:74.39, Y:5.69, Z:0.71 [[ 9.88630351e-01 -1.49898765e-01 -1.18486210e-02 7.43925726e+01] [ 1.49885584e-01 9.88701330e-01 -1.99770497e-03 5.69490040e+00] [ 1.20142008e-02 1.99054289e-04 9.99927807e-01 7.05896034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.900281693 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:74.45, Y:5.71, Z:0.71 [[ 9.88602930e-01 -1.50079528e-01 -1.18482555e-02 7.44493163e+01] [ 1.50066335e-01 9.88673908e-01 -1.99987045e-03 5.70537489e+00] [ 1.20142007e-02 1.99053511e-04 9.99927807e-01 7.05752695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.960281693 meters Centerline goodness : 0.999386 with order 1 Centerline is valid? [True, True] Translation: X:74.51, Y:5.72, Z:0.71 [[ 9.89972945e-01 -1.40759358e-01 -1.18478806e-02 7.45050818e+01] [ 1.40745470e-01 9.90043789e-01 -2.00208899e-03 5.71928436e+00] [ 1.20117333e-02 3.14478411e-04 9.99927807e-01 7.06179038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.020281693 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:74.56, Y:5.74, Z:0.71 [[ 9.91440702e-01 -1.30019102e-01 -1.18477187e-02 7.45611781e+01] [ 1.30004436e-01 9.91511389e-01 -2.00304628e-03 5.73815455e+00] [ 1.20075823e-02 4.45645614e-04 9.99927807e-01 7.09281961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.080281693 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:74.62, Y:5.76, Z:0.71 [[ 9.92528642e-01 -1.21435314e-01 -1.18473462e-02 7.46152141e+01] [ 1.21420010e-01 9.92599194e-01 -2.00524737e-03 5.75814724e+00] [ 1.20031741e-02 5.51760554e-04 9.99927807e-01 7.10067293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.140281693 meters Centerline goodness : 0.999426 with order 1 Centerline is valid? [True, True] Translation: X:74.67, Y:5.77, Z:0.71 [[ 9.92797635e-01 -1.19216194e-01 -1.18471858e-02 7.46715507e+01] [ 1.19200721e-01 9.92868150e-01 -2.00619434e-03 5.77483696e+00] [ 1.20018643e-02 5.79551895e-04 9.99927807e-01 7.08079081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20028169300001 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:74.73, Y:5.80, Z:0.71 [[ 9.92864007e-01 -1.18662198e-01 -1.18468281e-02 7.47265081e+01] [ 1.18646661e-01 9.92934508e-01 -2.00830431e-03 5.79812092e+00] [ 1.20014343e-02 5.88386464e-04 9.99927807e-01 7.07515073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.260281693 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:74.78, Y:5.82, Z:0.71 [[ 9.92403417e-01 -1.22454556e-01 -1.18464690e-02 7.47817204e+01] [ 1.22439263e-01 9.92473972e-01 -2.01042042e-03 5.82189054e+00] [ 1.20034973e-02 5.44675161e-04 9.99927807e-01 7.08228236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.320281693 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:74.84, Y:5.84, Z:0.71 [[ 9.91824109e-01 -1.27061428e-01 -1.18460965e-02 7.48358384e+01] [ 1.27046437e-01 9.91894728e-01 -2.01261315e-03 5.84332533e+00] [ 1.20058062e-02 4.91153897e-04 9.99927807e-01 7.06273873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.380281693 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:74.89, Y:5.87, Z:0.71 [[ 9.91216713e-01 -1.31715992e-01 -1.18459351e-02 7.48906526e+01] [ 1.31701321e-01 9.91287399e-01 -2.01356275e-03 5.86612101e+00] [ 1.20079446e-02 4.35751756e-04 9.99927807e-01 7.10867949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.440281693 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:74.95, Y:5.89, Z:0.71 [[ 9.90511843e-01 -1.36915926e-01 -1.18455561e-02 7.49458353e+01] [ 1.36901600e-01 9.90582601e-01 -2.01578992e-03 5.88942213e+00] [ 1.20099955e-02 3.74988215e-04 9.99927807e-01 7.09902740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.500281693 meters Centerline goodness : 0.999426 with order 1 Centerline is valid? [True, True] Translation: X:75.00, Y:5.91, Z:0.71 [[ 9.89467350e-01 -1.44270771e-01 -1.18451797e-02 7.50001062e+01] [ 1.44256945e-01 9.89538206e-01 -2.01799917e-03 5.91081302e+00] [ 1.20123962e-02 2.87994865e-04 9.99927807e-01 7.08989738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56028169300001 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:75.06, Y:5.92, Z:0.71 [[ 9.88422575e-01 -1.51263047e-01 -1.18450161e-02 7.50561651e+01] [ 1.51249711e-01 9.88493525e-01 -2.01895911e-03 5.92451786e+00] [ 1.20141156e-02 2.04029505e-04 9.99927807e-01 7.09975137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.620281693 meters Centerline goodness : 0.999536 with order 1 Centerline is valid? [True, True] Translation: X:75.11, Y:5.94, Z:0.71 [[ 9.87304920e-01 -1.58394130e-01 -1.18446353e-02 7.51126486e+01] [ 1.58381279e-01 9.87375959e-01 -2.02119048e-03 5.93559763e+00] [ 1.20152529e-02 1.19562814e-04 9.99927807e-01 7.13969012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.680281693 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:75.17, Y:5.95, Z:0.72 [[ 9.86092155e-01 -1.65776865e-01 -1.18445174e-02 7.51691097e+01] [ 1.65764538e-01 9.86163288e-01 -2.02188117e-03 5.94927179e+00] [ 1.20158093e-02 3.03602080e-05 9.99927807e-01 7.16737662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.740281693 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:75.22, Y:5.96, Z:0.71 [[ 9.85760127e-01 -1.67739942e-01 -1.18441499e-02 7.52247537e+01] [ 1.67727730e-01 9.85831280e-01 -2.02403172e-03 5.95968272e+00] [ 1.20158444e-02 8.61739197e-06 9.99927807e-01 7.12803289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.800281693 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:75.28, Y:5.97, Z:0.71 [[ 9.85745393e-01 -1.67826517e-01 -1.18439912e-02 7.52821823e+01] [ 1.67814301e-01 9.85816545e-01 -2.02495981e-03 5.97051019e+00] [ 1.20158445e-02 8.50369794e-06 9.99927807e-01 7.12171486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.860281693 meters Centerline goodness : 0.999469 with order 1 Centerline is valid? [True, True] Translation: X:75.34, Y:5.98, Z:0.71 [[ 9.86049788e-01 -1.66028746e-01 -1.18436296e-02 7.53387379e+01] [ 1.66016374e-01 9.86120913e-01 -2.02707248e-03 5.98082801e+00] [ 1.20158032e-02 3.25579377e-05 9.99927807e-01 7.14324959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.920281693 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:75.40, Y:5.99, Z:0.72 [[ 9.86438068e-01 -1.63706065e-01 -1.18432643e-02 7.53950833e+01] [ 1.63693500e-01 9.86509159e-01 -2.02920472e-03 5.99466903e+00] [ 1.20156818e-02 6.30193959e-05 9.99927807e-01 7.20306165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98028169300001 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:75.45, Y:6.00, Z:0.72 [[ 9.86392199e-01 -1.63982223e-01 -1.18431509e-02 7.54523601e+01] [ 1.63969670e-01 9.86463292e-01 -2.02986610e-03 6.00392739e+00] [ 1.20156956e-02 6.03265335e-05 9.99927807e-01 7.18332493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.040281693 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:75.51, Y:6.02, Z:0.72 [[ 9.87077567e-01 -1.59804959e-01 -1.18427582e-02 7.55082619e+01] [ 1.59792078e-01 9.87148602e-01 -2.03215476e-03 6.01691851e+00] [ 1.20153106e-02 1.13515427e-04 9.99927807e-01 7.19978176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.100281693 meters Centerline goodness : 0.999597 with order 1 Centerline is valid? [True, True] Translation: X:75.56, Y:6.03, Z:0.72 [[ 9.88524311e-01 -1.50596943e-01 -1.18425883e-02 7.55647292e+01] [ 1.50583388e-01 9.88595220e-01 -2.03314452e-03 6.03359073e+00] [ 1.20137115e-02 2.26515717e-04 9.99927807e-01 7.17980095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.160281693 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:75.62, Y:6.05, Z:0.72 [[ 9.89390823e-01 -1.44794898e-01 -1.18422030e-02 7.56205801e+01] [ 1.44780901e-01 9.89461646e-01 -2.03538643e-03 6.05217839e+00] [ 1.20121192e-02 2.99267836e-04 9.99927807e-01 7.19965162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.220281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:75.68, Y:6.07, Z:0.73 [[ 9.89230775e-01 -1.45884355e-01 -1.18418167e-02 7.56765141e+01] [ 1.45870409e-01 9.89301608e-01 -2.03763103e-03 6.06697725e+00] [ 1.20123868e-02 2.88316667e-04 9.99927807e-01 7.26713462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.280281693 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:75.73, Y:6.09, Z:0.72 [[ 9.88471343e-01 -1.50944308e-01 -1.18414328e-02 7.57320281e+01] [ 1.50930698e-01 9.88542242e-01 -2.03985979e-03 6.08566956e+00] [ 1.20136618e-02 2.29107230e-04 9.99927807e-01 7.24017252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34028169300001 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:75.79, Y:6.10, Z:0.72 [[ 9.87406550e-01 -1.57759591e-01 -1.18413137e-02 7.57890416e+01] [ 1.57746462e-01 9.87477539e-01 -2.04055110e-03 6.10030745e+00] [ 1.20149478e-02 1.46928187e-04 9.99927807e-01 7.16877037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.400281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:75.85, Y:6.11, Z:0.73 [[ 9.86220164e-01 -1.65013877e-01 -1.18409794e-02 7.58456641e+01] [ 1.65001247e-01 9.86291243e-01 -2.04248881e-03 6.11253696e+00] [ 1.20156933e-02 6.05672783e-05 9.99927807e-01 7.26487607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.460281693 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:75.90, Y:6.12, Z:0.73 [[ 9.85568003e-01 -1.68865347e-01 -1.18408616e-02 7.59016021e+01] [ 1.68852986e-01 9.85639130e-01 -2.04317161e-03 6.12454512e+00] [ 1.20158374e-02 1.43197224e-05 9.99927807e-01 7.25692784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.520281693 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:75.96, Y:6.13, Z:0.73 [[ 9.85323766e-01 -1.70284692e-01 -1.18406076e-02 7.59585751e+01] [ 1.70272416e-01 9.85394908e-01 -2.04464234e-03 6.13425540e+00] [ 1.20158458e-02 -1.49418265e-06 9.99927807e-01 7.26136949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.580281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:76.02, Y:6.14, Z:0.73 [[ 9.85263790e-01 -1.70631392e-01 -1.18402431e-02 7.60162855e+01] [ 1.70619116e-01 9.85334932e-01 -2.04675147e-03 6.14344069e+00] [ 1.20158451e-02 -3.58169455e-06 9.99927807e-01 7.28464034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.640281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:76.07, Y:6.15, Z:0.73 [[ 9.84891640e-01 -1.72766535e-01 -1.18398518e-02 7.60737692e+01] [ 1.72754386e-01 9.84962803e-01 -2.04901244e-03 6.15050829e+00] [ 1.20158144e-02 -2.73311007e-05 9.99927807e-01 7.30852771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70028169300001 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:76.13, Y:6.15, Z:0.73 [[ 9.84572035e-01 -1.74578738e-01 -1.18394614e-02 7.61313601e+01] [ 1.74566693e-01 9.84643216e-01 -2.05126567e-03 6.15435692e+00] [ 1.20157527e-02 -4.71568094e-05 9.99927807e-01 7.27985017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.760281693 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:76.19, Y:6.16, Z:0.73 [[ 9.84776244e-01 -1.73423125e-01 -1.18392933e-02 7.61895162e+01] [ 1.73410985e-01 9.84847409e-01 -2.05223516e-03 6.15626078e+00] [ 1.20158024e-02 -3.20710759e-05 9.99927807e-01 7.25900246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.820281693 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:76.25, Y:6.16, Z:0.73 [[ 9.85412467e-01 -1.69770740e-01 -1.18391747e-02 7.62469753e+01] [ 1.69758328e-01 9.85483585e-01 -2.05291926e-03 6.16404359e+00] [ 1.20158380e-02 1.31737339e-05 9.99927807e-01 7.29256132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.880281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:76.30, Y:6.17, Z:0.73 [[ 9.86845753e-01 -1.61230587e-01 -1.18387959e-02 7.63032121e+01] [ 1.61217533e-01 9.86916756e-01 -2.05510135e-03 6.17186317e+00] [ 1.20152513e-02 1.19446563e-04 9.99927807e-01 7.30768302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.940281693 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:76.36, Y:6.18, Z:0.73 [[ 9.86965580e-01 -1.60495454e-01 -1.18386315e-02 7.63607255e+01] [ 1.60482336e-01 9.87036571e-01 -2.05604788e-03 6.18211913e+00] [ 1.20151486e-02 1.29357251e-04 9.99927807e-01 7.32191309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.000281693 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:76.42, Y:6.19, Z:0.73 [[ 9.85692446e-01 -1.68137614e-01 -1.18382583e-02 7.64165709e+01] [ 1.68125021e-01 9.85763532e-01 -2.05819467e-03 6.19098101e+00] [ 1.20157832e-02 3.84395141e-05 9.99927807e-01 7.29325241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06028169300001 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:76.47, Y:6.20, Z:0.73 [[ 9.84654115e-01 -1.74115285e-01 -1.18380960e-02 7.64738076e+01] [ 1.74103112e-01 9.84725275e-01 -2.05912763e-03 6.19893816e+00] [ 1.20157979e-02 -3.35208578e-05 9.99927807e-01 7.28934032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.120281693 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:76.53, Y:6.20, Z:0.73 [[ 9.83542363e-01 -1.80289455e-01 -1.18377290e-02 7.65303707e+01] [ 1.80277704e-01 9.83613593e-01 -2.06123533e-03 6.20485320e+00] [ 1.20153702e-02 -1.06766337e-04 9.99927807e-01 7.27890709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.180281693 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:76.59, Y:6.21, Z:0.73 [[ 9.83014786e-01 -1.83144214e-01 -1.18375703e-02 7.65888862e+01] [ 1.83132658e-01 9.83086048e-01 -2.06214655e-03 6.20899123e+00] [ 1.20150204e-02 -1.40725165e-04 9.99927807e-01 7.34537793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.240281693 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:76.65, Y:6.21, Z:0.74 [[ 9.82820608e-01 -1.84183420e-01 -1.18372141e-02 7.66473304e+01] [ 1.84171915e-01 9.82891878e-01 -2.06418881e-03 6.21407990e+00] [ 1.20148910e-02 -1.51355094e-04 9.99927807e-01 7.37206676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.300281693 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:76.71, Y:6.21, Z:0.73 [[ 9.82456559e-01 -1.86115552e-01 -1.18368596e-02 7.67056394e+01] [ 1.86104162e-01 9.82527848e-01 -2.06621981e-03 6.21429357e+00] [ 1.20145998e-02 -1.72917637e-04 9.99927807e-01 7.32712339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.360281693 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:76.77, Y:6.21, Z:0.74 [[ 9.82382384e-01 -1.86506688e-01 -1.18366966e-02 7.67650074e+01] [ 1.86495316e-01 9.82453675e-01 -2.06715322e-03 6.21301058e+00] [ 1.20145440e-02 -1.76753560e-04 9.99927807e-01 7.36264860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.420281693 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:76.82, Y:6.22, Z:0.74 [[ 9.83040105e-01 -1.83008339e-01 -1.18363461e-02 7.68233750e+01] [ 1.82996689e-01 9.83111352e-01 -2.06915809e-03 6.21608656e+00] [ 1.20151194e-02 -1.31946757e-04 9.99927807e-01 7.36397814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.480281693 meters Centerline goodness : 0.999449 with order 1 Centerline is valid? [True, True] Translation: X:76.88, Y:6.22, Z:0.73 [[ 9.84340962e-01 -1.75877173e-01 -1.18359758e-02 7.68817161e+01] [ 1.75864981e-01 9.84412118e-01 -2.07127447e-03 6.21681402e+00] [ 1.20157679e-02 -4.26933462e-05 9.99927807e-01 7.32458512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.540281693 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:76.94, Y:6.22, Z:0.74 [[ 9.84910091e-01 -1.72661608e-01 -1.18355968e-02 7.69402081e+01] [ 1.72649158e-01 9.84981202e-01 -2.07343763e-03 6.21930968e+00] [ 1.20158434e-02 -1.25618395e-06 9.99927807e-01 7.35610061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.600281693 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:77.00, Y:6.22, Z:0.74 [[ 9.85279192e-01 -1.70542765e-01 -1.18354792e-02 7.69985685e+01] [ 1.70530154e-01 9.85350275e-01 -2.07410889e-03 6.22065796e+00] [ 1.20158169e-02 2.52702460e-05 9.99927807e-01 7.39014647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.660281693 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:77.06, Y:6.22, Z:0.74 [[ 9.85956590e-01 -1.66581910e-01 -1.18350975e-02 7.70582496e+01] [ 1.66568987e-01 9.86027617e-01 -2.07628455e-03 6.21879197e+00] [ 1.20156044e-02 7.57662333e-05 9.99927807e-01 7.37755613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.720281693 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:77.12, Y:6.22, Z:0.74 [[ 9.86536451e-01 -1.63112753e-01 -1.18347155e-02 7.71159902e+01] [ 1.63099554e-01 9.86607427e-01 -2.07845978e-03 6.21681666e+00] [ 1.20152415e-02 1.20239525e-04 9.99927807e-01 7.38129085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.780281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:77.17, Y:6.22, Z:0.73 [[ 9.87530734e-01 -1.56980869e-01 -1.18345500e-02 7.71749015e+01] [ 1.56967218e-01 9.87601624e-01 -2.07940163e-03 6.21567297e+00] [ 1.20142470e-02 1.95836631e-04 9.99927807e-01 7.34994497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84028169300001 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:77.23, Y:6.22, Z:0.74 [[ 9.88320138e-01 -1.51931748e-01 -1.18341757e-02 7.72334074e+01] [ 1.51917710e-01 9.88390953e-01 -2.08152925e-03 6.21954280e+00] [ 1.20130426e-02 2.59396399e-04 9.99927807e-01 7.39207599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.900281693 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:77.29, Y:6.22, Z:0.74 [[ 9.89087574e-01 -1.46852738e-01 -1.18340561e-02 7.72910699e+01] [ 1.46838328e-01 9.89158314e-01 -2.08220922e-03 6.22348933e+00] [ 1.20115331e-02 3.21794258e-04 9.99927807e-01 7.42133669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.960281693 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:77.35, Y:6.23, Z:0.74 [[ 9.89627268e-01 -1.43170648e-01 -1.18336673e-02 7.73479618e+01] [ 1.43155949e-01 9.89697949e-01 -2.08441633e-03 6.22922557e+00] [ 1.20101835e-02 3.68735362e-04 9.99927807e-01 7.39933087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.020281693 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:77.41, Y:6.24, Z:0.74 [[ 9.89998655e-01 -1.40579625e-01 -1.18334996e-02 7.74059056e+01] [ 1.40564730e-01 9.90069295e-01 -2.08536801e-03 6.23630085e+00] [ 1.20091449e-02 4.01138849e-04 9.99927807e-01 7.42367755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.080281693 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:77.46, Y:6.25, Z:0.74 [[ 9.90121192e-01 -1.39714005e-01 -1.18331061e-02 7.74629003e+01] [ 1.39699021e-01 9.90191812e-01 -2.08759885e-03 6.24628495e+00] [ 1.20087115e-02 4.13902527e-04 9.99927807e-01 7.38497872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.140281693 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:77.52, Y:6.26, Z:0.74 [[ 9.90302678e-01 -1.38421772e-01 -1.18329848e-02 7.75195069e+01] [ 1.38406688e-01 9.90373277e-01 -2.08828581e-03 6.25851299e+00] [ 1.20081362e-02 4.30270794e-04 9.99927807e-01 7.38299921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20028169300001 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:77.58, Y:6.27, Z:0.74 [[ 9.90513361e-01 -1.36906046e-01 -1.18328690e-02 7.75759628e+01] [ 1.36890846e-01 9.90583935e-01 -2.08894209e-03 6.27481800e+00] [ 1.20074387e-02 4.49313608e-04 9.99927807e-01 7.44299630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.260281693 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:77.63, Y:6.29, Z:0.74 [[ 9.90677711e-01 -1.35711697e-01 -1.18325349e-02 7.76317792e+01] [ 1.35696389e-01 9.90748262e-01 -2.09083283e-03 6.29277333e+00] [ 1.20068138e-02 4.65709225e-04 9.99927807e-01 7.41851983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.320281693 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:77.69, Y:6.31, Z:0.74 [[ 9.90184211e-01 -1.39266752e-01 -1.18321507e-02 7.76861326e+01] [ 1.39251671e-01 9.90254811e-01 -2.09300483e-03 6.31041721e+00] [ 1.20083301e-02 4.24813580e-04 9.99927807e-01 7.41729308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.380281693 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:77.74, Y:6.32, Z:0.75 [[ 9.89601698e-01 -1.43347425e-01 -1.18319847e-02 7.77423603e+01] [ 1.43332624e-01 9.89672357e-01 -2.09394265e-03 6.32494507e+00] [ 1.20099495e-02 3.76259786e-04 9.99927807e-01 7.47285983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.440281693 meters Centerline goodness : 0.999427 with order 1 Centerline is valid? [True, True] Translation: X:77.80, Y:6.34, Z:0.75 [[ 9.88373626e-01 -1.51583600e-01 -1.18315996e-02 7.77982142e+01] [ 1.51569363e-01 9.88444401e-01 -2.09611611e-03 6.33664331e+00] [ 1.20126152e-02 2.78437865e-04 9.99927807e-01 7.49176981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.500281693 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:77.85, Y:6.34, Z:0.75 [[ 9.87302855e-01 -1.58407990e-01 -1.18313379e-02 7.78546066e+01] [ 1.58394224e-01 9.87373723e-01 -2.09759263e-03 6.34319039e+00] [ 1.20142276e-02 1.96943612e-04 9.99927807e-01 7.48176808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56028169300001 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:77.91, Y:6.35, Z:0.75 [[ 9.86515821e-01 -1.63237745e-01 -1.18310804e-02 7.79118648e+01] [ 1.63224308e-01 9.86586752e-01 -2.09904397e-03 6.34982843e+00] [ 1.20150304e-02 1.39620173e-04 9.99927807e-01 7.49450586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.620281693 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:77.97, Y:6.35, Z:0.75 [[ 9.85414389e-01 -1.69760174e-01 -1.18307060e-02 7.79705936e+01] [ 1.69747181e-01 9.85485403e-01 -2.10115187e-03 6.35180854e+00] [ 1.20156800e-02 6.22762938e-05 9.99927807e-01 7.46387551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.680281693 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:78.03, Y:6.35, Z:0.75 [[ 9.84839802e-01 -1.73062440e-01 -1.18303280e-02 7.80292061e+01] [ 1.73049660e-01 9.84910855e-01 -2.10327813e-03 6.35258283e+00] [ 1.20158169e-02 2.41577837e-05 9.99927807e-01 7.49349918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.740281693 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:78.09, Y:6.35, Z:0.75 [[ 9.84433181e-01 -1.75360670e-01 -1.18299458e-02 7.80865409e+01] [ 1.75348031e-01 9.84504259e-01 -2.10542561e-03 6.35393470e+00] [ 1.20158409e-02 -1.70686738e-06 9.99927807e-01 7.50603184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.800281693 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:78.15, Y:6.35, Z:0.75 [[ 9.83731096e-01 -1.79257319e-01 -1.18297800e-02 7.81452334e+01] [ 1.79244950e-01 9.83802222e-01 -2.10635681e-03 6.35066064e+00] [ 1.20157437e-02 -4.83396259e-05 9.99927807e-01 7.49877591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.860281693 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:78.20, Y:6.35, Z:0.75 [[ 9.83463826e-01 -1.80717910e-01 -1.18296185e-02 7.82034839e+01] [ 1.80705636e-01 9.83534968e-01 -2.10726338e-03 6.35258111e+00] [ 1.20156637e-02 -6.52614270e-05 9.99927807e-01 7.48499979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.920281693 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:78.26, Y:6.35, Z:0.75 [[ 9.84108835e-01 -1.77171864e-01 -1.18292180e-02 7.82610493e+01] [ 1.77159306e-01 9.84179928e-01 -2.10950928e-03 6.35288940e+00] [ 1.20158246e-02 -1.96693263e-05 9.99927807e-01 7.50124720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.980281693 meters Centerline goodness : 0.999534 with order 1 Centerline is valid? [True, True] Translation: X:78.32, Y:6.36, Z:0.75 [[ 9.85930973e-01 -1.66733892e-01 -1.18290450e-02 7.83193572e+01] [ 1.66720570e-01 9.86001926e-01 -2.11047880e-03 6.35860895e+00] [ 1.20153495e-02 1.08641296e-04 9.99927807e-01 7.49579629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.040281693 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:78.38, Y:6.37, Z:0.75 [[ 9.87435786e-01 -1.57577449e-01 -1.18286498e-02 7.83762501e+01] [ 1.57563442e-01 9.87506607e-01 -2.11269124e-03 6.36859693e+00] [ 1.20137824e-02 2.22384153e-04 9.99927807e-01 7.52787502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.100281693 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:78.43, Y:6.38, Z:0.76 [[ 9.88948142e-01 -1.47789258e-01 -1.18282573e-02 7.84322403e+01] [ 1.47774524e-01 9.89018815e-01 -2.11488649e-03 6.38394672e+00] [ 1.20109266e-02 3.43597960e-04 9.99927807e-01 7.56111236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.160281693 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:78.49, Y:6.40, Z:0.75 [[ 9.89837179e-01 -1.41712600e-01 -1.18278621e-02 7.84891050e+01] [ 1.41697406e-01 9.89907755e-01 -2.11709483e-03 6.40220302e+00] [ 1.20085114e-02 4.19601806e-04 9.99927807e-01 7.48794361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.220281693 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:78.54, Y:6.42, Z:0.75 [[ 9.89817262e-01 -1.41851676e-01 -1.18275167e-02 7.85438964e+01] [ 1.41836469e-01 9.89887835e-01 -2.11902230e-03 6.42137273e+00] [ 1.20085018e-02 4.19871637e-04 9.99927807e-01 7.54349492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.280281693 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:78.60, Y:6.44, Z:0.76 [[ 9.89636323e-01 -1.43108565e-01 -1.18273949e-02 7.85998053e+01] [ 1.43093439e-01 9.89706913e-01 -2.11970212e-03 6.43556270e+00] [ 1.20090020e-02 4.05311594e-04 9.99927807e-01 7.56177980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34028169300001 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:78.66, Y:6.45, Z:0.76 [[ 9.89534570e-01 -1.43810490e-01 -1.18270070e-02 7.86553187e+01] [ 1.43795389e-01 9.89605166e-01 -2.12186405e-03 6.45287275e+00] [ 1.20092136e-02 3.98988756e-04 9.99927807e-01 7.57652904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.400281693 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:78.71, Y:6.47, Z:0.76 [[ 9.90263267e-01 -1.38703979e-01 -1.18265897e-02 7.87099716e+01] [ 1.38688486e-01 9.90333778e-01 -2.12418779e-03 6.47117660e+00] [ 1.20069045e-02 4.63293323e-04 9.99927807e-01 7.62939543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.460281693 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:78.77, Y:6.49, Z:0.76 [[ 9.90544078e-01 -1.36684182e-01 -1.18264085e-02 7.87664580e+01] [ 1.36668534e-01 9.90614554e-01 -2.12519579e-03 6.48514570e+00] [ 1.20058931e-02 4.88802195e-04 9.99927807e-01 7.62085596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.520281693 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:78.82, Y:6.51, Z:0.76 [[ 9.91198101e-01 -1.31857763e-01 -1.18260062e-02 7.88216906e+01] [ 1.31841745e-01 9.91268495e-01 -2.12743224e-03 6.50848269e+00] [ 1.20032658e-02 5.49545499e-04 9.99927807e-01 7.60191567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.580281693 meters Centerline goodness : 0.999430 with order 1 Centerline is valid? [True, True] Translation: X:78.88, Y:6.53, Z:0.76 [[ 9.90823389e-01 -1.34644596e-01 -1.18255976e-02 7.88759305e+01] [ 1.34628749e-01 9.90893821e-01 -2.12970083e-03 6.53110819e+00] [ 1.20046643e-02 5.18091985e-04 9.99927807e-01 7.60791825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.640281693 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:78.93, Y:6.55, Z:0.76 [[ 9.89458578e-01 -1.44332540e-01 -1.18254211e-02 7.89308291e+01] [ 1.44317371e-01 9.89529159e-01 -2.13068057e-03 6.55423739e+00] [ 1.20091255e-02 4.01606485e-04 9.99927807e-01 7.57158727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70028169300001 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:78.99, Y:6.57, Z:0.76 [[ 9.88293315e-01 -1.52106842e-01 -1.18250437e-02 7.89868275e+01] [ 1.52092204e-01 9.88364008e-01 -2.13277323e-03 6.56922289e+00] [ 1.20118570e-02 3.09308572e-04 9.99927807e-01 7.55681822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.760281693 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:79.04, Y:6.58, Z:0.76 [[ 9.86425740e-01 -1.63781654e-01 -1.18249266e-02 7.90444623e+01] [ 1.63767845e-01 9.86496600e-01 -2.13342230e-03 6.58330372e+00] [ 1.20146653e-02 1.67919929e-04 9.99927807e-01 7.61453248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.820281693 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:79.10, Y:6.59, Z:0.76 [[ 9.85686089e-01 -1.68175839e-01 -1.18245730e-02 7.91006541e+01] [ 1.68162322e-01 9.85757005e-01 -2.13538033e-03 6.59381220e+00] [ 1.20152750e-02 1.16367041e-04 9.99927807e-01 7.63051051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.880281693 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:79.16, Y:6.61, Z:0.77 [[ 9.85839396e-01 -1.67274828e-01 -1.18243973e-02 7.91575614e+01] [ 1.67261234e-01 9.85910298e-01 -2.13635289e-03 6.60537226e+00] [ 1.20151531e-02 1.28337563e-04 9.99927807e-01 7.67253901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.940281693 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:79.21, Y:6.62, Z:0.77 [[ 9.86252537e-01 -1.64821497e-01 -1.18239987e-02 7.92144015e+01] [ 1.64807700e-01 9.86323400e-01 -2.13855659e-03 6.61748658e+00] [ 1.20147667e-02 1.60470828e-04 9.99927807e-01 7.69698750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.000281693 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:79.27, Y:6.63, Z:0.77 [[ 9.86855569e-01 -1.61171613e-01 -1.18236001e-02 7.92710509e+01] [ 1.61157529e-01 9.86926374e-01 -2.14075825e-03 6.63110381e+00] [ 1.20140522e-02 2.07157036e-04 9.99927807e-01 7.70273806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06028169300001 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:79.33, Y:6.64, Z:0.77 [[ 9.86692874e-01 -1.62164681e-01 -1.18231958e-02 7.93277720e+01] [ 1.62150641e-01 9.86763689e-01 -2.14298849e-03 6.63879144e+00] [ 1.20142174e-02 1.97332689e-04 9.99927807e-01 7.68129114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.120281693 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:79.38, Y:6.65, Z:0.77 [[ 9.86204811e-01 -1.65106895e-01 -1.18230209e-02 7.93849822e+01] [ 1.65093054e-01 9.86275665e-01 -2.14395287e-03 6.64990736e+00] [ 1.20147392e-02 1.62477997e-04 9.99927807e-01 7.71496830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.180281693 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:79.44, Y:6.66, Z:0.77 [[ 9.86281209e-01 -1.64649939e-01 -1.18226348e-02 7.94416280e+01] [ 1.64636040e-01 9.86352051e-01 -2.14607991e-03 6.66252237e+00] [ 1.20146320e-02 1.70206503e-04 9.99927807e-01 7.70379926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.240281693 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:79.50, Y:6.67, Z:0.77 [[ 9.86330352e-01 -1.64355320e-01 -1.18222307e-02 7.94988111e+01] [ 1.64341374e-01 9.86401185e-01 -2.14830396e-03 6.67397321e+00] [ 1.20145475e-02 1.76055767e-04 9.99927807e-01 7.68403869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.300281693 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:79.56, Y:6.68, Z:0.77 [[ 9.85518066e-01 -1.69157876e-01 -1.18218200e-02 7.95553720e+01] [ 1.69144247e-01 9.85588960e-01 -2.15056149e-03 6.68056251e+00] [ 1.20152397e-02 1.19824352e-04 9.99927807e-01 7.66597202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.360281693 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:79.61, Y:6.69, Z:0.77 [[ 9.84435028e-01 -1.75350863e-01 -1.18216423e-02 7.96130448e+01] [ 1.75337669e-01 9.84506004e-01 -2.15153766e-03 6.68786828e+00] [ 1.20157519e-02 4.52698212e-05 9.99927807e-01 7.67856696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.420281693 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:79.67, Y:6.70, Z:0.77 [[ 9.84576921e-01 -1.74552411e-01 -1.18212424e-02 7.96691639e+01] [ 1.74539133e-01 9.84647883e-01 -2.15373303e-03 6.69801400e+00] [ 1.20157006e-02 5.72464435e-05 9.99927807e-01 7.71044896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.480281693 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:79.73, Y:6.71, Z:0.77 [[ 9.85977661e-01 -1.66458155e-01 -1.18209710e-02 7.97260705e+01] [ 1.66444276e-01 9.86048507e-01 -2.15522115e-03 6.71177325e+00] [ 1.20148050e-02 1.57466943e-04 9.99927807e-01 7.67244906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.540281693 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:79.78, Y:6.72, Z:0.77 [[ 9.86701979e-01 -1.62109467e-01 -1.18205769e-02 7.97827880e+01] [ 1.62095251e-01 9.86772758e-01 -2.15738087e-03 6.72494688e+00] [ 1.20139551e-02 2.12632606e-04 9.99927807e-01 7.67503980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.600281693 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:79.84, Y:6.73, Z:0.77 [[ 9.86595695e-01 -1.62755086e-01 -1.18201822e-02 7.98399163e+01] [ 1.62740890e-01 9.86666478e-01 -2.15954121e-03 6.73439132e+00] [ 1.20140538e-02 2.06967102e-04 9.99927807e-01 7.73304608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.660281693 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:79.90, Y:6.74, Z:0.78 [[ 9.86691331e-01 -1.62174299e-01 -1.18200606e-02 7.98966430e+01] [ 1.62160053e-01 9.86762104e-01 -2.16020641e-03 6.74423525e+00] [ 1.20139178e-02 2.14715278e-04 9.99927807e-01 7.75546276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.720281693 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:79.95, Y:6.76, Z:0.78 [[ 9.87417120e-01 -1.57695042e-01 -1.18196839e-02 7.99534032e+01] [ 1.57680450e-01 9.87487823e-01 -2.16226570e-03 6.75676422e+00] [ 1.20127725e-02 2.71325090e-04 9.99927807e-01 7.76400916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.780281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:80.01, Y:6.77, Z:0.78 [[ 9.88063991e-01 -1.53589890e-01 -1.18192873e-02 8.00094292e+01] [ 1.53574979e-01 9.88134627e-01 -2.16443119e-03 6.76928128e+00] [ 1.20114818e-02 3.23449717e-04 9.99927807e-01 7.75060571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84028169300001 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:80.07, Y:6.78, Z:0.77 [[ 9.87727660e-01 -1.55738174e-01 -1.18191157e-02 8.00663889e+01] [ 1.55723406e-01 9.87798326e-01 -2.16536775e-03 6.78007693e+00] [ 1.20121332e-02 2.98280659e-04 9.99927807e-01 7.72771221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.900281693 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:80.12, Y:6.79, Z:0.77 [[ 9.86944674e-01 -1.60625426e-01 -1.18187275e-02 8.01236488e+01] [ 1.60610982e-01 9.87015407e-01 -2.16748465e-03 6.79366707e+00] [ 1.20134193e-02 2.40970008e-04 9.99927807e-01 7.70583014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.960281693 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:80.18, Y:6.81, Z:0.77 [[ 9.86282577e-01 -1.64642052e-01 -1.18183700e-02 8.01800243e+01] [ 1.64627873e-01 9.86353363e-01 -2.16943257e-03 6.80549607e+00] [ 1.20142688e-02 1.94040444e-04 9.99927807e-01 7.73459414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.020281693 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:80.24, Y:6.82, Z:0.78 [[ 9.85440203e-01 -1.69611148e-01 -1.18179576e-02 8.02366575e+01] [ 1.69597298e-01 9.85511055e-01 -2.17167634e-03 6.81677279e+00] [ 1.20150684e-02 1.35763488e-04 9.99927807e-01 7.77205954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.080281693 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:80.29, Y:6.83, Z:0.78 [[ 9.84445593e-01 -1.75291792e-01 -1.18178305e-02 8.02939981e+01] [ 1.75278344e-01 9.84516523e-01 -2.17236818e-03 6.82562954e+00] [ 1.20156477e-02 6.71685348e-05 9.99927807e-01 7.78776770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.140281693 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:80.35, Y:6.83, Z:0.78 [[ 9.83843741e-01 -1.78638860e-01 -1.18174245e-02 8.03506106e+01] [ 1.78625627e-01 9.83914710e-01 -2.17457422e-03 6.83264313e+00] [ 1.20158013e-02 2.85463744e-05 9.99927807e-01 7.79237738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20028169300001 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:80.41, Y:6.84, Z:0.78 [[ 9.83986909e-01 -1.77848575e-01 -1.18172482e-02 8.04075337e+01] [ 1.77835273e-01 9.84057866e-01 -2.17553216e-03 6.83923113e+00] [ 1.20157713e-02 3.91716158e-05 9.99927807e-01 7.82122834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.260281693 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:80.47, Y:6.84, Z:0.79 [[ 9.84577642e-01 -1.74548638e-01 -1.18169760e-02 8.04655876e+01] [ 1.74535080e-01 9.84648550e-01 -2.17700922e-03 6.84388071e+00] [ 1.20155623e-02 8.09577437e-05 9.99927807e-01 7.86124639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.320281693 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:80.52, Y:6.85, Z:0.79 [[ 9.85296210e-01 -1.70445732e-01 -1.18165805e-02 8.05227338e+01] [ 1.70431853e-01 9.85367056e-01 -2.17915427e-03 6.85209066e+00] [ 1.20150966e-02 1.33190736e-04 9.99927807e-01 7.88867455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.380281693 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:80.58, Y:6.86, Z:0.79 [[ 9.86316624e-01 -1.64438122e-01 -1.18161821e-02 8.05794864e+01] [ 1.64423786e-01 9.86387379e-01 -2.18131200e-03 6.86397893e+00] [ 1.20140238e-02 2.08602881e-04 9.99927807e-01 7.90448019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.440281693 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:80.64, Y:6.88, Z:0.79 [[ 9.87943500e-01 -1.54363302e-01 -1.18157884e-02 8.06355477e+01] [ 1.54348219e-01 9.88014099e-01 -2.18344296e-03 6.88234648e+00] [ 1.20112090e-02 3.33372389e-04 9.99927807e-01 7.87949375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.500281693 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:80.69, Y:6.90, Z:0.78 [[ 9.88654423e-01 -1.49742542e-01 -1.18153963e-02 8.06905051e+01] [ 1.49727104e-01 9.88724945e-01 -2.18556256e-03 6.90279004e+00] [ 1.20094487e-02 3.91681024e-04 9.99927807e-01 7.84530013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56028169300001 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:80.74, Y:6.92, Z:0.79 [[ 9.88398626e-01 -1.51421803e-01 -1.18149936e-02 8.07448833e+01] [ 1.51406459e-01 9.88469169e-01 -2.18773748e-03 6.92308701e+00] [ 1.20100280e-02 3.73490384e-04 9.99927807e-01 7.86857848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.620281693 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:80.80, Y:6.94, Z:0.79 [[ 9.87558419e-01 -1.56808098e-01 -1.18148198e-02 8.07995281e+01] [ 1.56793128e-01 9.87629042e-01 -2.18867557e-03 6.94103697e+00] [ 1.20118612e-02 3.08962436e-04 9.99927807e-01 7.89925495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.680281693 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:80.85, Y:6.96, Z:0.79 [[ 9.85951950e-01 -1.66610822e-01 -1.18146549e-02 8.08549084e+01] [ 1.66596543e-01 9.86022717e-01 -2.18956513e-03 6.96201711e+00] [ 1.20143234e-02 1.90525343e-04 9.99927807e-01 7.92041729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.740281693 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:80.91, Y:6.98, Z:0.79 [[ 9.83782894e-01 -1.78973854e-01 -1.18142787e-02 8.09112267e+01] [ 1.78960440e-01 9.83853829e-01 -2.19159311e-03 6.97518279e+00] [ 1.20157612e-02 4.17632915e-05 9.99927807e-01 7.86868927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.800281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:80.97, Y:6.98, Z:0.79 [[ 9.80884594e-01 -1.94231420e-01 -1.18138790e-02 8.09678365e+01] [ 1.94219084e-01 9.80955725e-01 -2.19374563e-03 6.98446505e+00] [ 1.20149866e-02 -1.42669467e-04 9.99927807e-01 7.87963361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.860281693 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:81.03, Y:6.99, Z:0.79 [[ 9.79168240e-01 -2.02706668e-01 -1.18137067e-02 8.10253489e+01] [ 2.02694936e-01 9.79239473e-01 -2.19467323e-03 6.99246627e+00] [ 1.20133228e-02 -2.45624196e-04 9.99927807e-01 7.92554958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.920281693 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:81.08, Y:7.00, Z:0.79 [[ 9.77432828e-01 -2.10915891e-01 -1.18132932e-02 8.10827683e+01] [ 2.10904730e-01 9.77504153e-01 -2.19689670e-03 6.99549972e+00] [ 1.20109036e-02 -3.44160453e-04 9.99927807e-01 7.89396290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.980281693 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:81.14, Y:7.00, Z:0.79 [[ 9.76586942e-01 -2.14798498e-01 -1.18131150e-02 8.11422783e+01] [ 2.14787609e-01 9.76658309e-01 -2.19785431e-03 6.99746401e+00] [ 1.20094728e-02 -3.90914915e-04 9.99927807e-01 7.85705878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.040281693 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:81.20, Y:7.00, Z:0.80 [[ 9.76673145e-01 -2.14406218e-01 -1.18127835e-02 8.12007132e+01] [ 2.14395279e-01 9.76744504e-01 -2.19963453e-03 7.00437478e+00] [ 1.20096867e-02 -3.84281052e-04 9.99927807e-01 7.97556746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.100281693 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:81.26, Y:7.01, Z:0.80 [[ 9.77537710e-01 -2.10429304e-01 -1.18124386e-02 8.12585617e+01] [ 2.10418052e-01 9.77609020e-01 -2.20148547e-03 7.00934226e+00] [ 1.20112036e-02 -3.33515254e-04 9.99927807e-01 8.00222174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.160281693 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:81.32, Y:7.02, Z:0.79 [[ 9.77268738e-01 -2.11674963e-01 -1.18120435e-02 8.13161748e+01] [ 2.11663776e-01 9.77340059e-01 -2.20360332e-03 7.01511007e+00] [ 1.20108309e-02 -3.46669095e-04 9.99927807e-01 7.94354612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.220281693 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:81.37, Y:7.02, Z:0.80 [[ 9.77001361e-01 -2.12905671e-01 -1.18116467e-02 8.13739323e+01] [ 2.12894549e-01 9.77072692e-01 -2.20572838e-03 7.02024090e+00] [ 1.20104495e-02 -3.59635552e-04 9.99927807e-01 7.97352871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.280281693 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:81.43, Y:7.03, Z:0.80 [[ 9.77215322e-01 -2.11921470e-01 -1.18112352e-02 8.14311348e+01] [ 2.11910249e-01 9.77286637e-01 -2.20792934e-03 7.02759023e+00] [ 1.20108700e-02 -3.45299414e-04 9.99927807e-01 7.96282552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34028169300001 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:81.49, Y:7.03, Z:0.80 [[ 9.77675161e-01 -2.09789858e-01 -1.18108207e-02 8.14874609e+01] [ 2.09778454e-01 9.77746447e-01 -2.21014438e-03 7.03432817e+00] [ 1.20116539e-02 -3.16852456e-04 9.99927807e-01 7.95648071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.400281693 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:81.54, Y:7.04, Z:0.80 [[ 9.78848405e-01 -2.04245712e-01 -1.18105398e-02 8.15448698e+01] [ 2.04233887e-01 9.78919623e-01 -2.21164431e-03 7.04022142e+00] [ 1.20132881e-02 -2.47247955e-04 9.99927807e-01 7.97288607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.460281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:81.60, Y:7.05, Z:0.80 [[ 9.80359845e-01 -1.96863136e-01 -1.18101549e-02 8.16029554e+01] [ 1.96850750e-01 9.80430967e-01 -2.21369789e-03 7.04589990e+00] [ 1.20148371e-02 -1.54617329e-04 9.99927807e-01 7.95534612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.520281693 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:81.66, Y:7.05, Z:0.80 [[ 9.81630871e-01 -1.90424167e-01 -1.18097720e-02 8.16609024e+01] [ 1.90411290e-01 9.81701906e-01 -2.21573878e-03 7.05413284e+00] [ 1.20156059e-02 -7.36763290e-05 9.99927807e-01 7.95670815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.580281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:81.72, Y:7.07, Z:0.80 [[ 9.82412409e-01 -1.86350201e-01 -1.18093531e-02 8.17178592e+01] [ 1.86337003e-01 9.82483385e-01 -2.21796916e-03 7.06504061e+00] [ 1.20158122e-02 -2.15590416e-05 9.99927807e-01 7.99237717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.640281693 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:81.77, Y:7.08, Z:0.80 [[ 9.83918067e-01 -1.78229590e-01 -1.18089345e-02 8.17744401e+01] [ 1.78215779e-01 9.83988926e-01 -2.22019581e-03 7.07947106e+00] [ 1.20155653e-02 7.99523126e-05 9.99927807e-01 8.01651223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70028169300001 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:81.83, Y:7.10, Z:0.80 [[ 9.85315306e-01 -1.70335867e-01 -1.18085051e-02 8.18283248e+01] [ 1.70321461e-01 9.85386047e-01 -2.22247746e-03 7.09946790e+00] [ 1.20145037e-02 1.78599228e-04 9.99927807e-01 8.00848815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.760281693 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:81.88, Y:7.12, Z:0.80 [[ 9.85649127e-01 -1.68393474e-01 -1.18083200e-02 8.18831596e+01] [ 1.68378917e-01 9.85719837e-01 -2.22346016e-03 7.11599290e+00] [ 1.20141115e-02 2.03279431e-04 9.99927807e-01 8.01508532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.820281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:81.94, Y:7.13, Z:0.80 [[ 9.85364455e-01 -1.70051339e-01 -1.18081425e-02 8.19398953e+01] [ 1.70036889e-01 9.85435187e-01 -2.22440261e-03 7.12939824e+00] [ 1.20144217e-02 1.84027453e-04 9.99927807e-01 8.00513893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.880281693 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:82.00, Y:7.14, Z:0.80 [[ 9.84786172e-01 -1.73368892e-01 -1.18077209e-02 8.19957340e+01] [ 1.73354654e-01 9.84856947e-01 -2.22663835e-03 7.14226317e+00] [ 1.20149458e-02 1.45839301e-04 9.99927807e-01 8.02223934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.940281693 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:82.05, Y:7.16, Z:0.80 [[ 9.84933823e-01 -1.72528103e-01 -1.18075386e-02 8.20525160e+01] [ 1.72513793e-01 9.85004583e-01 -2.22760465e-03 7.15625444e+00] [ 1.20148040e-02 1.57079897e-04 9.99927807e-01 8.03472523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.000281693 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:82.11, Y:7.17, Z:0.81 [[ 9.85967990e-01 -1.66516409e-01 -1.18071231e-02 8.21073602e+01] [ 1.66501642e-01 9.86038656e-01 -2.22980448e-03 7.17084371e+00] [ 1.20135789e-02 2.32610460e-04 9.99927807e-01 8.09363973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06028169300001 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:82.16, Y:7.19, Z:0.81 [[ 9.86827619e-01 -1.61343873e-01 -1.18069441e-02 8.21623941e+01] [ 1.61328724e-01 9.86898205e-01 -2.23075211e-03 7.19062809e+00] [ 1.20121701e-02 2.96568569e-04 9.99927807e-01 8.13177305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.120281693 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:82.22, Y:7.21, Z:0.81 [[ 9.87426582e-01 -1.57636767e-01 -1.18065373e-02 8.22183037e+01] [ 1.57621327e-01 9.87497104e-01 -2.23290279e-03 7.20780848e+00] [ 1.20109090e-02 3.43865488e-04 9.99927807e-01 8.09369958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.180281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:82.27, Y:7.23, Z:0.81 [[ 9.88296396e-01 -1.52088296e-01 -1.18061130e-02 8.22720759e+01] [ 1.52072433e-01 9.88366824e-01 -2.23514431e-03 7.23009559e+00] [ 1.20087097e-02 4.13600745e-04 9.99927807e-01 8.08357605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.240281693 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:82.33, Y:7.25, Z:0.81 [[ 9.88700414e-01 -1.49439322e-01 -1.18059306e-02 8.23275561e+01] [ 1.49423259e-01 9.88770797e-01 -2.23610704e-03 7.24982227e+00] [ 1.20075218e-02 4.46759319e-04 9.99927807e-01 8.11007876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.300281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:82.38, Y:7.27, Z:0.81 [[ 9.88507340e-01 -1.50711211e-01 -1.18055165e-02 8.23820412e+01] [ 1.50695213e-01 9.88577737e-01 -2.23829138e-03 7.26949812e+00] [ 1.20080064e-02 4.33532642e-04 9.99927807e-01 8.09385156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.360281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:82.44, Y:7.29, Z:0.82 [[ 9.87791995e-01 -1.55330641e-01 -1.18053371e-02 8.24372125e+01] [ 1.55314961e-01 9.87862465e-01 -2.23923697e-03 7.28771314e+00] [ 1.20098715e-02 3.78354879e-04 9.99927807e-01 8.15598165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.420281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:82.49, Y:7.30, Z:0.82 [[ 9.87475593e-01 -1.57329582e-01 -1.18049116e-02 8.24920235e+01] [ 1.57314017e-01 9.87546088e-01 -2.24147826e-03 7.30279231e+00] [ 1.20105451e-02 3.56327014e-04 9.99927807e-01 8.19914476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.480281693 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:82.55, Y:7.32, Z:0.82 [[ 9.87037803e-01 -1.60053197e-01 -1.18046218e-02 8.25481245e+01] [ 1.60037809e-01 9.87108337e-01 -2.24300311e-03 7.32121374e+00] [ 1.20114404e-02 3.24743056e-04 9.99927807e-01 8.15082648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.540281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:82.60, Y:7.34, Z:0.82 [[ 9.86176725e-01 -1.65275914e-01 -1.18042497e-02 8.26045657e+01] [ 1.65260876e-01 9.86247334e-01 -2.24495955e-03 7.33725942e+00] [ 1.20129476e-02 2.63146207e-04 9.99927807e-01 8.17192997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.600281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:82.66, Y:7.35, Z:0.82 [[ 9.84611337e-01 -1.74359355e-01 -1.18038251e-02 8.26604394e+01] [ 1.74344942e-01 9.84682076e-01 -2.24719016e-03 7.35116331e+00] [ 1.20148336e-02 1.54671708e-04 9.99927807e-01 8.17707920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.660281693 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:82.72, Y:7.36, Z:0.81 [[ 9.83443408e-01 -1.80830704e-01 -1.18034025e-02 8.27157539e+01] [ 1.80816730e-01 9.83514235e-01 -2.24940778e-03 7.36388748e+00] [ 1.20155763e-02 7.79126165e-05 9.99927807e-01 8.13713842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.720281693 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:82.77, Y:7.38, Z:0.81 [[ 9.83072729e-01 -1.82835151e-01 -1.18032198e-02 8.27728893e+01] [ 1.82821310e-01 9.83143583e-01 -2.25036575e-03 7.37649687e+00] [ 1.20157058e-02 5.43930931e-05 9.99927807e-01 8.12992064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.780281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:82.83, Y:7.39, Z:0.81 [[ 9.83128302e-01 -1.82536119e-01 -1.18028316e-02 8.28279989e+01] [ 1.82522232e-01 9.83199146e-01 -2.25240011e-03 7.39130518e+00] [ 1.20156783e-02 6.01191347e-05 9.99927807e-01 8.12537802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84028169300001 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:82.88, Y:7.41, Z:0.81 [[ 9.84027763e-01 -1.77623371e-01 -1.18025510e-02 8.28833803e+01] [ 1.77609113e-01 9.84098533e-01 -2.25386957e-03 7.41037021e+00] [ 1.20152130e-02 1.21629628e-04 9.99927807e-01 8.11778544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.900281693 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:82.94, Y:7.44, Z:0.81 [[ 9.85562194e-01 -1.68901958e-01 -1.18021450e-02 8.29369508e+01] [ 1.68887047e-01 9.85632830e-01 -2.25599359e-03 7.43573417e+00] [ 1.20136233e-02 2.30192581e-04 9.99927807e-01 8.12447285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.960281693 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:82.99, Y:7.46, Z:0.81 [[ 9.86425822e-01 -1.63782817e-01 -1.18019683e-02 8.29909214e+01] [ 1.63767530e-01 9.86496377e-01 -2.25691735e-03 7.46202711e+00] [ 1.20122433e-02 2.93502362e-04 9.99927807e-01 8.12148284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.020281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:83.05, Y:7.48, Z:0.81 [[ 9.85796681e-01 -1.67527991e-01 -1.18015511e-02 8.30453336e+01] [ 1.67512946e-01 9.85867288e-01 -2.25909676e-03 7.48187180e+00] [ 1.20132251e-02 2.50097499e-04 9.99927807e-01 8.13286530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.080281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:83.10, Y:7.50, Z:0.82 [[ 9.83203615e-01 -1.82130123e-01 -1.18012692e-02 8.31008856e+01] [ 1.82116108e-01 9.83274434e-01 -2.26056838e-03 7.49841653e+00] [ 1.20156039e-02 7.33977723e-05 9.99927807e-01 8.18319580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.140281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:83.16, Y:7.51, Z:0.82 [[ 9.81107472e-01 -1.93103260e-01 -1.18008408e-02 8.31567123e+01] [ 1.93090011e-01 9.81178438e-01 -2.26280245e-03 7.51095479e+00] [ 1.20156851e-02 -5.85721012e-05 9.99927807e-01 8.21878205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20028169300001 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:83.21, Y:7.53, Z:0.82 [[ 9.80910085e-01 -1.94103451e-01 -1.18006570e-02 8.32131495e+01] [ 1.94090263e-01 9.80981063e-01 -2.26376100e-03 7.52575080e+00] [ 1.20156248e-02 -6.98466133e-05 9.99927807e-01 8.18566871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.260281693 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:83.27, Y:7.54, Z:0.82 [[ 9.80897380e-01 -1.94167671e-01 -1.18002277e-02 8.32696114e+01] [ 1.94154460e-01 9.80968354e-01 -2.26599661e-03 7.54075229e+00] [ 1.20156332e-02 -6.83566932e-05 9.99927807e-01 8.19481813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.320281693 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:83.33, Y:7.55, Z:0.82 [[ 9.79903872e-01 -1.99120982e-01 -1.17997986e-02 8.33263864e+01] [ 1.99108103e-01 9.79974907e-01 -2.26822883e-03 7.55067143e+00] [ 1.20151585e-02 -1.26789290e-04 9.99927807e-01 8.20898768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.380281693 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:83.38, Y:7.56, Z:0.82 [[ 9.78576744e-01 -2.05543987e-01 -1.17993711e-02 8.33823217e+01] [ 2.05531547e-01 9.78647857e-01 -2.27045021e-03 7.56217142e+00] [ 1.20141067e-02 -2.03333228e-04 9.99927807e-01 8.20932611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.440281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:83.44, Y:7.57, Z:0.82 [[ 9.78052185e-01 -2.08025733e-01 -1.17990819e-02 8.34398813e+01] [ 2.08013455e-01 9.78123326e-01 -2.27195230e-03 7.56956956e+00] [ 1.20135818e-02 -2.32279888e-04 9.99927807e-01 8.19860625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.500281693 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:83.50, Y:7.57, Z:0.82 [[ 9.77804886e-01 -2.09185076e-01 -1.17986693e-02 8.34984207e+01] [ 2.09172858e-01 9.77876037e-01 -2.27409273e-03 7.57254154e+00] [ 1.20133423e-02 -2.44342395e-04 9.99927807e-01 8.18669119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56028169300001 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:83.56, Y:7.58, Z:0.82 [[ 9.78492458e-01 -2.05944920e-01 -1.17982558e-02 8.35562500e+01] [ 2.05932440e-01 9.78563564e-01 -2.27623598e-03 7.57562361e+00] [ 1.20141225e-02 -2.02363880e-04 9.99927807e-01 8.20339595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.620281693 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:83.61, Y:7.58, Z:0.82 [[ 9.80617263e-01 -1.95577577e-01 -1.17980774e-02 8.36131355e+01] [ 1.95564334e-01 9.80688231e-01 -2.27716071e-03 7.58360159e+00] [ 1.20155972e-02 -7.42600350e-05 9.99927807e-01 8.20707326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.680281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:83.67, Y:7.59, Z:0.82 [[ 9.82022704e-01 -1.88393785e-01 -1.17979002e-02 8.36706414e+01] [ 1.88380011e-01 9.82093571e-01 -2.27807813e-03 7.58865219e+00] [ 1.20158177e-02 1.46358622e-05 9.99927807e-01 8.21927662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.740281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:83.73, Y:7.60, Z:0.83 [[ 9.81486231e-01 -1.91169016e-01 -1.17977242e-02 8.37281969e+01] [ 1.91155432e-01 9.81557134e-01 -2.27898958e-03 7.59601354e+00] [ 1.20158125e-02 -1.84021647e-05 9.99927807e-01 8.27455554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.800281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:83.79, Y:7.60, Z:0.83 [[ 9.80582378e-01 -1.95752455e-01 -1.17973061e-02 8.37852586e+01] [ 1.95739177e-01 9.80653339e-01 -2.28115140e-03 7.60133080e+00] [ 1.20156086e-02 -7.23381315e-05 9.99927807e-01 8.27688147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.860281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:83.84, Y:7.61, Z:0.83 [[ 9.80285979e-01 -1.97231412e-01 -1.17970235e-02 8.38433065e+01] [ 1.97218223e-01 9.80356956e-01 -2.28261213e-03 7.60876762e+00] [ 1.20154969e-02 -8.89753516e-05 9.99927807e-01 8.28823503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.920281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:83.90, Y:7.61, Z:0.83 [[ 9.80400367e-01 -1.96662046e-01 -1.17966225e-02 8.39009507e+01] [ 1.96648791e-01 9.80471332e-01 -2.28468258e-03 7.61221438e+00] [ 1.20155605e-02 -7.98879149e-05 9.99927807e-01 8.31604044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.980281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:83.96, Y:7.62, Z:0.83 [[ 9.80303176e-01 -1.97145959e-01 -1.17963497e-02 8.39598047e+01] [ 1.97132722e-01 9.80374145e-01 -2.28609040e-03 7.61553806e+00] [ 1.20155297e-02 -8.43848363e-05 9.99927807e-01 8.31031277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.040281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:84.02, Y:7.61, Z:0.83 [[ 9.79644062e-01 -2.00395530e-01 -1.17959298e-02 8.40182909e+01] [ 2.00382502e-01 9.79715069e-01 -2.28825471e-03 7.61467659e+00] [ 1.20152062e-02 -1.22022794e-04 9.99927807e-01 8.28500646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.100281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:84.08, Y:7.62, Z:0.83 [[ 9.79534108e-01 -2.00932305e-01 -1.17957476e-02 8.40765716e+01] [ 2.00919305e-01 9.79605121e-01 -2.28919347e-03 7.61723581e+00] [ 1.20151477e-02 -1.27650327e-04 9.99927807e-01 8.30532854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.160281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:84.13, Y:7.62, Z:0.83 [[ 9.79495949e-01 -2.01118266e-01 -1.17953362e-02 8.41333516e+01] [ 2.01105253e-01 9.79566959e-01 -2.29131163e-03 7.62494309e+00] [ 1.20151462e-02 -1.27773619e-04 9.99927807e-01 8.30654762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.220281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:84.19, Y:7.63, Z:0.83 [[ 9.79068269e-01 -2.03190058e-01 -1.17951579e-02 8.41926266e+01] [ 2.03177185e-01 9.79139304e-01 -2.29222913e-03 7.62510392e+00] [ 1.20148609e-02 -1.52258175e-04 9.99927807e-01 8.29679388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.280281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:84.25, Y:7.63, Z:0.83 [[ 9.78624026e-01 -2.05319020e-01 -1.17947500e-02 8.42504834e+01] [ 2.05306276e-01 9.78695085e-01 -2.29432593e-03 7.62836281e+00] [ 1.20145326e-02 -1.76253723e-04 9.99927807e-01 8.31516006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34028169300001 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:84.31, Y:7.63, Z:0.83 [[ 9.78664341e-01 -2.05126779e-01 -1.17945733e-02 8.43075189e+01] [ 2.05114010e-01 9.78735396e-01 -2.29523408e-03 7.63183143e+00] [ 1.20145803e-02 -1.72968480e-04 9.99927807e-01 8.30638033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.400281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:84.36, Y:7.64, Z:0.83 [[ 9.79039026e-01 -2.03330960e-01 -1.17942992e-02 8.43649457e+01] [ 2.03318044e-01 9.79110054e-01 -2.29664165e-03 7.63777189e+00] [ 1.20148953e-02 -1.49492031e-04 9.99927807e-01 8.33004811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.460281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.42, Y:7.64, Z:0.83 [[ 9.79683590e-01 -2.00202318e-01 -1.17938996e-02 8.44224426e+01] [ 2.00189150e-01 9.79754571e-01 -2.29869196e-03 7.63833246e+00] [ 1.20153305e-02 -1.09019946e-04 9.99927807e-01 8.29745194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.520281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:84.48, Y:7.64, Z:0.83 [[ 9.80508826e-01 -1.96120759e-01 -1.17936288e-02 8.44802106e+01] [ 1.96107280e-01 9.80579749e-01 -2.30008062e-03 7.64192879e+00] [ 1.20156871e-02 -5.75671067e-05 9.99927807e-01 8.31580910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.580281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:84.54, Y:7.64, Z:0.84 [[ 9.81263708e-01 -1.92308215e-01 -1.17934575e-02 8.45388326e+01] [ 1.92294449e-01 9.81334576e-01 -2.30095849e-03 7.64413054e+00] [ 1.20158208e-02 -9.96935160e-06 9.99927807e-01 8.39265240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.640281693 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:84.60, Y:7.65, Z:0.84 [[ 9.81365348e-01 -1.91788888e-01 -1.17930687e-02 8.45968866e+01] [ 1.91775061e-01 9.81436204e-01 -2.30294916e-03 7.64973657e+00] [ 1.20158247e-02 -1.58197031e-06 9.99927807e-01 8.38084580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70028169300001 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:84.65, Y:7.66, Z:0.84 [[ 9.81271999e-01 -1.92265956e-01 -1.17926246e-02 8.46543707e+01] [ 1.92252136e-01 9.81342857e-01 -2.30522107e-03 7.65717546e+00] [ 1.20158235e-02 -5.10838528e-06 9.99927807e-01 8.35644284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.760281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:84.71, Y:7.67, Z:0.84 [[ 9.81852110e-01 -1.89281215e-01 -1.17921831e-02 8.47112769e+01] [ 1.89267152e-01 9.81922920e-01 -2.30747761e-03 7.66537964e+00] [ 1.20157770e-02 3.37288518e-05 9.99927807e-01 8.39600504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.820281693 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:84.77, Y:7.68, Z:0.83 [[ 9.82759857e-01 -1.84510195e-01 -1.17919917e-02 8.47679392e+01] [ 1.84495777e-01 9.82830595e-01 -2.30845540e-03 7.67901687e+00] [ 1.20154637e-02 9.30846340e-05 9.99927807e-01 8.34762634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.880281693 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:84.82, Y:7.69, Z:0.84 [[ 9.83357676e-01 -1.81297100e-01 -1.17916046e-02 8.48241398e+01] [ 1.81282427e-01 9.83428362e-01 -2.31043062e-03 7.69445424e+00] [ 1.20150728e-02 1.34368978e-04 9.99927807e-01 8.39317654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.940281693 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:84.88, Y:7.71, Z:0.84 [[ 9.83730293e-01 -1.79264270e-01 -1.17911798e-02 8.48794253e+01] [ 1.79249425e-01 9.83800943e-01 -2.31259665e-03 7.71226561e+00] [ 1.20147398e-02 1.61409183e-04 9.99927807e-01 8.44829452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.000281693 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:84.93, Y:7.73, Z:0.84 [[ 9.83630408e-01 -1.79811566e-01 -1.17907584e-02 8.49338102e+01] [ 1.79796735e-01 9.83701060e-01 -2.31474343e-03 7.73130777e+00] [ 1.20147991e-02 1.56912177e-04 9.99927807e-01 8.38796264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06028169300001 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:84.99, Y:7.74, Z:0.84 [[ 9.82816068e-01 -1.84210643e-01 -1.17904727e-02 8.49905042e+01] [ 1.84196110e-01 9.82886783e-01 -2.31619767e-03 7.74453132e+00] [ 1.20153680e-02 1.04637081e-04 9.99927807e-01 8.38571995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.120281693 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:85.05, Y:7.76, Z:0.84 [[ 9.81133479e-01 -1.92971737e-01 -1.17900433e-02 8.50458059e+01] [ 1.92957810e-01 9.81204316e-01 -2.31838143e-03 7.75675585e+00] [ 1.20158234e-02 -3.39282638e-07 9.99927807e-01 8.39557799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.180281693 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:85.10, Y:7.77, Z:0.84 [[ 9.79081342e-01 -2.03127363e-01 -1.17898567e-02 8.51024663e+01] [ 2.03114160e-01 9.79152317e-01 -2.31932961e-03 7.76772371e+00] [ 1.20151848e-02 -1.23874500e-04 9.99927807e-01 8.44350177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.240281693 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:85.16, Y:7.78, Z:0.84 [[ 9.78130754e-01 -2.07656539e-01 -1.17894388e-02 8.51601365e+01] [ 2.07643638e-01 9.78201784e-01 -2.32145182e-03 7.77616493e+00] [ 1.20145148e-02 -1.77318550e-04 9.99927807e-01 8.43115600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.300281693 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:85.22, Y:7.79, Z:0.85 [[ 9.78399970e-01 -2.06384397e-01 -1.17889897e-02 8.52164521e+01] [ 2.06371376e-01 9.78470978e-01 -2.32373065e-03 7.78626383e+00] [ 1.20147660e-02 -1.59372023e-04 9.99927807e-01 8.45669248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.360281693 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:85.27, Y:7.80, Z:0.84 [[ 9.78494482e-01 -2.05935845e-01 -1.17887957e-02 8.52732649e+01] [ 2.05922780e-01 9.78565483e-01 -2.32471440e-03 7.79719984e+00] [ 1.20148506e-02 -1.52861362e-04 9.99927807e-01 8.43253530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.420281693 meters Centerline goodness : 0.999532 with order 1 Centerline is valid? [True, True] Translation: X:85.33, Y:7.80, Z:0.84 [[ 9.78638102e-01 -2.05252281e-01 -1.17883609e-02 8.53295351e+01] [ 2.05239140e-01 9.78709089e-01 -2.32691698e-03 7.80455425e+00] [ 1.20149810e-02 -1.42223439e-04 9.99927807e-01 8.43100265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.480281693 meters Centerline goodness : 0.999597 with order 1 Centerline is valid? [True, True] Translation: X:85.39, Y:7.81, Z:0.85 [[ 9.78940126e-01 -2.03806937e-01 -1.17881732e-02 8.53866572e+01] [ 2.03793680e-01 9.79011091e-01 -2.32786752e-03 7.81362933e+00] [ 1.20151879e-02 -1.23512273e-04 9.99927807e-01 8.45071535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.540281693 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:85.44, Y:7.82, Z:0.84 [[ 9.80269099e-01 -1.97315845e-01 -1.17877356e-02 8.54431372e+01] [ 1.97302091e-01 9.80339969e-01 -2.33008147e-03 7.82484974e+00] [ 1.20157503e-02 -4.16380212e-05 9.99927807e-01 8.44126039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.600281693 meters Centerline goodness : 0.999448 with order 1 Centerline is valid? [True, True] Translation: X:85.50, Y:7.84, Z:0.84 [[ 9.81216725e-01 -1.92548170e-01 -1.17872928e-02 8.54998469e+01] [ 1.92534044e-01 9.81287523e-01 -2.33231904e-03 7.83602294e+00] [ 1.20158071e-02 1.90552916e-05 9.99927807e-01 8.40836113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.660281693 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:85.56, Y:7.84, Z:0.84 [[ 9.82164445e-01 -1.87654134e-01 -1.17868517e-02 8.55570774e+01] [ 1.87639629e-01 9.82235165e-01 -2.33454644e-03 7.84407040e+00] [ 1.20155475e-02 8.12280341e-05 9.99927807e-01 8.42939105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.720281693 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:85.61, Y:7.86, Z:0.84 [[ 9.82308436e-01 -1.86898949e-01 -1.17863943e-02 8.56132901e+01] [ 1.86884362e-01 9.82379140e-01 -2.33685322e-03 7.85557085e+00] [ 1.20154633e-02 9.28178540e-05 9.99927807e-01 8.42739245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.780281693 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:85.67, Y:7.86, Z:0.85 [[ 9.81822914e-01 -1.89432971e-01 -1.17861963e-02 8.56715791e+01] [ 1.89418555e-01 9.81893653e-01 -2.33785166e-03 7.86124326e+00] [ 1.20156575e-02 6.28320667e-05 9.99927807e-01 8.50166111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84028169300001 meters Centerline goodness : 0.999469 with order 1 Centerline is valid? [True, True] Translation: X:85.73, Y:7.87, Z:0.86 [[ 9.81495945e-01 -1.91119875e-01 -1.17857505e-02 8.57294389e+01] [ 1.91105553e-01 9.81566703e-01 -2.34009670e-03 7.86812363e+00] [ 1.20157392e-02 4.44730578e-05 9.99927807e-01 8.55541940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.900281693 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:85.79, Y:7.88, Z:0.85 [[ 9.81674395e-01 -1.90201159e-01 -1.17856126e-02 8.57869885e+01] [ 1.90186762e-01 9.81745138e-01 -2.34079096e-03 7.87644058e+00] [ 1.20156890e-02 5.64270433e-05 9.99927807e-01 8.53177164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.960281693 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:85.84, Y:7.89, Z:0.85 [[ 9.82486163e-01 -1.85962492e-01 -1.17851741e-02 8.58436601e+01] [ 1.85947764e-01 9.82556838e-01 -2.34299687e-03 7.88806867e+00] [ 1.20153129e-02 1.10535248e-04 9.99927807e-01 8.47163854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.020281693 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:85.90, Y:7.90, Z:0.85 [[ 9.83890880e-01 -1.78381211e-01 -1.17847311e-02 8.59000394e+01] [ 1.78365912e-01 9.83961433e-01 -2.34522260e-03 7.89869227e+00] [ 1.20140646e-02 2.05448807e-04 9.99927807e-01 8.50646820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.080281693 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:85.96, Y:7.91, Z:0.85 [[ 9.84325888e-01 -1.75964970e-01 -1.17845393e-02 8.59569572e+01] [ 1.75949486e-01 9.84396401e-01 -2.34618615e-03 7.91187845e+00] [ 1.20135046e-02 2.35928132e-04 9.99927807e-01 8.53652888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.140281693 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:86.01, Y:7.93, Z:0.85 [[ 9.85449111e-01 -1.69561739e-01 -1.17841125e-02 8.60125907e+01] [ 1.69545772e-01 9.85519516e-01 -2.34832766e-03 7.92897577e+00] [ 1.20116594e-02 3.16210949e-04 9.99927807e-01 8.52390647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20028169300001 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:86.07, Y:7.94, Z:0.85 [[ 9.86149296e-01 -1.65440961e-01 -1.17836767e-02 8.60683729e+01] [ 1.65424673e-01 9.86219627e-01 -2.35051269e-03 7.94194013e+00] [ 1.20101643e-02 3.68645573e-04 9.99927807e-01 8.53738163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.260281693 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:86.12, Y:7.96, Z:0.86 [[ 9.87036421e-01 -1.60063280e-01 -1.17834888e-02 8.61235446e+01] [ 1.60046598e-01 9.87106659e-01 -2.35145400e-03 7.96110391e+00] [ 1.20079417e-02 4.35063429e-04 9.99927807e-01 8.55162879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.320281693 meters Centerline goodness : 0.999426 with order 1 Centerline is valid? [True, True] Translation: X:86.18, Y:7.98, Z:0.86 [[ 9.88071796e-01 -1.53542456e-01 -1.17830666e-02 8.61769234e+01] [ 1.53525286e-01 9.88141917e-01 -2.35356780e-03 7.98342986e+00] [ 1.20047146e-02 5.16495295e-04 9.99927807e-01 8.57851398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.380281693 meters Centerline goodness : 0.999448 with order 1 Centerline is valid? [True, True] Translation: X:86.23, Y:8.00, Z:0.86 [[ 9.88179882e-01 -1.52845305e-01 -1.17827799e-02 8.62312711e+01] [ 1.52828068e-01 9.88249986e-01 -2.35500210e-03 8.00229842e+00] [ 1.20042831e-02 5.26426197e-04 9.99927807e-01 8.58747422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.440281693 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:86.29, Y:8.02, Z:0.86 [[ 9.87783620e-01 -1.55385616e-01 -1.17826001e-02 8.62855892e+01] [ 1.55368549e-01 9.87853766e-01 -2.35590182e-03 8.02489975e+00] [ 1.20055591e-02 4.96475760e-04 9.99927807e-01 8.55731179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.500281693 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:86.34, Y:8.05, Z:0.86 [[ 9.87000406e-01 -1.60285301e-01 -1.17821918e-02 8.63394281e+01] [ 1.60268557e-01 9.87070631e-01 -2.35794162e-03 8.04824043e+00] [ 1.20077989e-02 4.38974455e-04 9.99927807e-01 8.56955364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56028169300001 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:86.39, Y:8.07, Z:0.86 [[ 9.86133545e-01 -1.65534936e-01 -1.17820145e-02 8.63946133e+01] [ 1.65518556e-01 9.86203855e-01 -2.35882722e-03 8.06992068e+00] [ 1.20099365e-02 3.75976618e-04 9.99927807e-01 8.58691645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.620281693 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:86.45, Y:8.09, Z:0.86 [[ 9.85746946e-01 -1.67821790e-01 -1.17815727e-02 8.64489615e+01] [ 1.67805547e-01 9.85817287e-01 -2.36103174e-03 8.08967217e+00] [ 1.20107107e-02 3.50366569e-04 9.99927807e-01 8.58900408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.680281693 meters Centerline goodness : 0.999386 with order 1 Centerline is valid? [True, True] Translation: X:86.50, Y:8.11, Z:0.86 [[ 9.85081251e-01 -1.71686132e-01 -1.17813807e-02 8.65026250e+01] [ 1.71670153e-01 9.85151653e-01 -2.36198958e-03 8.11450756e+00] [ 1.20119675e-02 3.04240223e-04 9.99927807e-01 8.57231017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.740281693 meters Centerline goodness : 0.999448 with order 1 Centerline is valid? [True, True] Translation: X:86.56, Y:8.14, Z:0.86 [[ 9.84029935e-01 -1.77612768e-01 -1.17809787e-02 8.65561594e+01] [ 1.77597189e-01 9.84100427e-01 -2.36399317e-03 8.13714401e+00] [ 1.20135415e-02 2.33971350e-04 9.99927807e-01 8.58708144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.800281693 meters Centerline goodness : 0.999336 with order 1 Centerline is valid? [True, True] Translation: X:86.61, Y:8.16, Z:0.86 [[ 9.82772114e-01 -1.84445614e-01 -1.17808042e-02 8.66111743e+01] [ 1.84430515e-01 9.82842710e-01 -2.36486207e-03 8.15813545e+00] [ 1.20148660e-02 1.51380701e-04 9.99927807e-01 8.60732185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.860281693 meters Centerline goodness : 0.999336 with order 1 Centerline is valid? [True, True] Translation: X:86.67, Y:8.18, Z:0.86 [[ 9.82015777e-01 -1.88430987e-01 -1.17803679e-02 8.66667603e+01] [ 1.88416148e-01 9.82086428e-01 -2.36703373e-03 8.17618581e+00] [ 1.20153619e-02 1.04852930e-04 9.99927807e-01 8.60742030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.920281693 meters Centerline goodness : 0.999320 with order 1 Centerline is valid? [True, True] Translation: X:86.72, Y:8.19, Z:0.86 [[ 9.81340621e-01 -1.91916177e-01 -1.17799334e-02 8.67214224e+01] [ 1.91901564e-01 9.81411319e-01 -2.36919391e-03 8.19483340e+00] [ 1.20156466e-02 6.43985771e-05 9.99927807e-01 8.58080749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.980281693 meters Centerline goodness : 0.999281 with order 1 Centerline is valid? [True, True] Translation: X:86.78, Y:8.21, Z:0.86 [[ 9.80791077e-01 -1.94705162e-01 -1.17797469e-02 8.67768216e+01] [ 1.94690738e-01 9.80861814e-01 -2.37012123e-03 8.21243357e+00] [ 1.20157787e-02 3.11861507e-05 9.99927807e-01 8.61781657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.040281693 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:86.83, Y:8.23, Z:0.86 [[ 9.79626894e-01 -2.00480414e-01 -1.17793281e-02 8.68337538e+01] [ 2.00466382e-01 9.79697710e-01 -2.37220053e-03 8.22504763e+00] [ 1.20157605e-02 -3.74878558e-05 9.99927807e-01 8.63903735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.100281693 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:86.89, Y:8.24, Z:0.86 [[ 9.78807571e-01 -2.04443137e-01 -1.17789103e-02 8.68897900e+01] [ 2.04429367e-01 9.78878438e-01 -2.37427308e-03 8.23573547e+00] [ 1.20155252e-02 -8.39987169e-05 9.99927807e-01 8.63307917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.160281693 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:86.95, Y:8.24, Z:0.87 [[ 9.78872427e-01 -2.04132390e-01 -1.17787295e-02 8.69472855e+01] [ 2.04118587e-01 9.78943288e-01 -2.37516975e-03 8.24348475e+00] [ 1.20155573e-02 -7.92694505e-05 9.99927807e-01 8.66938181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.220281693 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:87.00, Y:8.25, Z:0.87 [[ 9.79069989e-01 -2.03182748e-01 -1.17782828e-02 8.70038803e+01] [ 2.03168849e-01 9.79140831e-01 -2.37738318e-03 8.25218527e+00] [ 1.20156408e-02 -6.53556308e-05 9.99927807e-01 8.68787523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.280281693 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:87.06, Y:8.26, Z:0.87 [[ 9.79771290e-01 -1.99773610e-01 -1.17780894e-02 8.70617692e+01] [ 1.99759454e-01 9.79842081e-01 -2.37834075e-03 8.25787551e+00] [ 1.20157974e-02 -2.25547237e-05 9.99927807e-01 8.69050206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34028169300001 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:87.12, Y:8.27, Z:0.87 [[ 9.80393779e-01 -1.96696018e-01 -1.17776746e-02 8.71194319e+01] [ 1.96681615e-01 9.80464521e-01 -2.38039303e-03 8.26558937e+00] [ 1.20158059e-02 1.72704582e-05 9.99927807e-01 8.67885834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.400281693 meters Centerline goodness : 0.998845 with order 1 Centerline is valid? [True, True] Translation: X:87.18, Y:8.27, Z:0.87 [[ 9.81179345e-01 -1.92739172e-01 -1.17772623e-02 8.71767456e+01] [ 1.92724459e-01 9.81250023e-01 -2.38243105e-03 8.27212252e+00] [ 1.20156267e-02 6.78256265e-05 9.99927807e-01 8.69234496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.460281693 meters Centerline goodness : 0.998984 with order 1 Centerline is valid? [True, True] Translation: X:87.23, Y:8.28, Z:0.87 [[ 9.82126300e-01 -1.87854296e-01 -1.17768257e-02 8.72342850e+01] [ 1.87839206e-01 9.82196898e-01 -2.38458757e-03 8.28049969e+00] [ 1.20151167e-02 1.29816588e-04 9.99927807e-01 8.71117444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.520281693 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:87.29, Y:8.29, Z:0.87 [[ 9.83545666e-01 -1.80275453e-01 -1.17763883e-02 8.72911558e+01] [ 1.80259793e-01 9.83616140e-01 -2.38674591e-03 8.29135886e+00] [ 1.20137173e-02 2.24664288e-04 9.99927807e-01 8.68235590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.580281693 meters Centerline goodness : 0.998874 with order 1 Centerline is valid? [True, True] Translation: X:87.35, Y:8.30, Z:0.87 [[ 9.84518230e-01 -1.74886200e-01 -1.17759319e-02 8.73471884e+01] [ 1.74870127e-01 9.84588610e-01 -2.38899560e-03 8.30286392e+00] [ 1.20122507e-02 2.92751018e-04 9.99927807e-01 8.68592014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.640281693 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:87.40, Y:8.32, Z:0.87 [[ 9.84903942e-01 -1.72700772e-01 -1.17757331e-02 8.74027765e+01] [ 1.72684531e-01 9.84974284e-01 -2.38997476e-03 8.31781292e+00] [ 1.20115448e-02 3.20408608e-04 9.99927807e-01 8.73039116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70028169300001 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:87.46, Y:8.34, Z:0.87 [[ 9.85907090e-01 -1.66878859e-01 -1.17752707e-02 8.74565457e+01] [ 1.66862175e-01 9.85977328e-01 -2.39225094e-03 8.33904986e+00] [ 1.20093661e-02 3.93689873e-04 9.99927807e-01 8.71261253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.760281693 meters Centerline goodness : 0.998816 with order 1 Centerline is valid? [True, True] Translation: X:87.51, Y:8.36, Z:0.88 [[ 9.86379319e-01 -1.64064582e-01 -1.17750704e-02 8.75104890e+01] [ 1.64047687e-01 9.86449507e-01 -2.39323624e-03 8.36295984e+00] [ 1.20081577e-02 4.28965661e-04 9.99927807e-01 8.75120471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.820281693 meters Centerline goodness : 0.998764 with order 1 Centerline is valid? [True, True] Translation: X:87.57, Y:8.38, Z:0.87 [[ 9.85896586e-01 -1.66940945e-01 -1.17746369e-02 8.75663443e+01] [ 1.66924229e-01 9.85966817e-01 -2.39536745e-03 8.38022975e+00] [ 1.20092862e-02 3.96112407e-04 9.99927807e-01 8.73803514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.880281693 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:87.62, Y:8.40, Z:0.88 [[ 9.84031245e-01 -1.77605960e-01 -1.17741853e-02 8.76217456e+01] [ 1.77589979e-01 9.84101647e-01 -2.39758519e-03 8.39917658e+00] [ 1.20128205e-02 2.68321422e-04 9.99927807e-01 8.75381039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.940281693 meters Centerline goodness : 0.998815 with order 1 Centerline is valid? [True, True] Translation: X:87.68, Y:8.41, Z:0.88 [[ 9.83337238e-01 -1.81409081e-01 -1.17737352e-02 8.76768275e+01] [ 1.81393346e-01 9.83407695e-01 -2.39979327e-03 8.41166244e+00] [ 1.20137261e-02 2.24128863e-04 9.99927807e-01 8.77450099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.000281693 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:87.73, Y:8.42, Z:0.88 [[ 9.81563038e-01 -1.90775751e-01 -1.17735407e-02 8.77339890e+01] [ 1.90760676e-01 9.81633639e-01 -2.40074741e-03 8.42307569e+00] [ 1.20153079e-02 1.10556340e-04 9.99927807e-01 8.78887673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06028169300001 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:87.79, Y:8.43, Z:0.88 [[ 9.80346538e-01 -1.96931614e-01 -1.17730745e-02 8.77904037e+01] [ 1.96916956e-01 9.80417226e-01 -2.40303103e-03 8.43227749e+00] [ 1.20157579e-02 3.74851512e-05 9.99927807e-01 8.76386879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.120281693 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:87.85, Y:8.44, Z:0.88 [[ 9.77683549e-01 -2.09752898e-01 -1.17728738e-02 8.78490378e+01] [ 2.09739155e-01 9.77754421e-01 -2.40401435e-03 8.43511319e+00] [ 1.20152283e-02 -1.18867306e-04 9.99927807e-01 8.75639500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.180281693 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:87.91, Y:8.44, Z:0.88 [[ 9.76683067e-01 -2.14363235e-01 -1.17724212e-02 8.79061036e+01] [ 2.14349800e-01 9.76753998e-01 -2.40622866e-03 8.44152539e+00] [ 1.20145664e-02 -1.73293326e-04 9.99927807e-01 8.77965591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.240281693 meters Centerline goodness : 0.999110 with order 1 Centerline is valid? [True, True] Translation: X:87.96, Y:8.44, Z:0.88 [[ 9.75226189e-01 -2.20896571e-01 -1.17722268e-02 8.79639614e+01] [ 2.20883599e-01 9.75297206e-01 -2.40717907e-03 8.44294119e+00] [ 1.20131575e-02 -2.52747759e-04 9.99927807e-01 8.78683081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.300281693 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:88.02, Y:8.45, Z:0.88 [[ 9.74226424e-01 -2.25264940e-01 -1.17720370e-02 8.80230555e+01] [ 2.25252275e-01 9.74297497e-01 -2.40810683e-03 8.44501427e+00] [ 1.20119283e-02 -3.05636819e-04 9.99927807e-01 8.80329914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.360281693 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:88.08, Y:8.45, Z:0.88 [[ 9.73778188e-01 -2.27194787e-01 -1.17715900e-02 8.80810621e+01] [ 2.27182237e-01 9.73849281e-01 -2.41029033e-03 8.44819482e+00] [ 1.20113598e-02 -3.27207983e-04 9.99927807e-01 8.81102076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.420281693 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:88.14, Y:8.44, Z:0.88 [[ 9.73347851e-01 -2.29031436e-01 -1.17712868e-02 8.81396340e+01] [ 2.29019002e-01 9.73418964e-01 -2.41176986e-03 8.44428756e+00] [ 1.20107649e-02 -3.48357351e-04 9.99927807e-01 8.81863378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.480281693 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:88.20, Y:8.44, Z:0.89 [[ 9.73629254e-01 -2.27832212e-01 -1.17710966e-02 8.81988331e+01] [ 2.27819680e-01 9.73700350e-01 -2.41269803e-03 8.44219916e+00] [ 1.20112112e-02 -3.32614066e-04 9.99927807e-01 8.85026144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.540281693 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:88.26, Y:8.44, Z:0.88 [[ 9.75065333e-01 -2.21605613e-01 -1.17706561e-02 8.82568428e+01] [ 2.21592601e-01 9.75136343e-01 -2.41484489e-03 8.44194434e+00] [ 1.20131378e-02 -2.53658767e-04 9.99927807e-01 8.84690265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.600281693 meters Centerline goodness : 0.998982 with order 1 Centerline is valid? [True, True] Translation: X:88.31, Y:8.45, Z:0.88 [[ 9.77224168e-01 -2.11882943e-01 -1.17704654e-02 8.83144001e+01] [ 2.11869212e-01 9.77295043e-01 -2.41577437e-03 8.44597596e+00] [ 1.20150788e-02 -1.33046126e-04 9.99927807e-01 8.81413972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.660281693 meters Centerline goodness : 0.998962 with order 1 Centerline is valid? [True, True] Translation: X:88.37, Y:8.45, Z:0.88 [[ 9.78880279e-01 -2.04095222e-01 -1.17702783e-02 8.83709315e+01] [ 2.04080916e-01 9.78951040e-01 -2.41668553e-03 8.45305915e+00] [ 1.20157601e-02 -3.64433696e-05 9.99927807e-01 8.84382864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.720281693 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:88.43, Y:8.46, Z:0.89 [[ 9.79780787e-01 -1.99727500e-01 -1.17700921e-02 8.84276305e+01] [ 1.99712868e-01 9.79851481e-01 -2.41759179e-03 8.46429966e+00] [ 1.20158018e-02 1.80711313e-05 9.99927807e-01 8.85912633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.780281693 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:88.48, Y:8.48, Z:0.89 [[ 9.81569141e-01 -1.90744587e-01 -1.17696403e-02 8.84833210e+01] [ 1.90729282e-01 9.81639692e-01 -2.41978927e-03 8.47631058e+00] [ 1.20151078e-02 1.30375427e-04 9.99927807e-01 8.85545180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84028169300001 meters Centerline goodness : 0.999418 with order 1 Centerline is valid? [True, True] Translation: X:88.54, Y:8.49, Z:0.88 [[ 9.83852506e-01 -1.78593749e-01 -1.17694451e-02 8.85384560e+01] [ 1.78577562e-01 9.83922860e-01 -2.42073862e-03 8.49488034e+00] [ 1.20125548e-02 2.79890949e-04 9.99927807e-01 8.82915540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.900281693 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:88.59, Y:8.52, Z:0.89 [[ 9.85914240e-01 -1.66837054e-01 -1.17689912e-02 8.85918348e+01] [ 1.66820002e-01 9.85984390e-01 -2.42294312e-03 8.51647400e+00] [ 1.20082783e-02 4.25510985e-04 9.99927807e-01 8.85752917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.960281693 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:88.65, Y:8.54, Z:0.89 [[ 9.86684124e-01 -1.62221868e-01 -1.17687958e-02 8.86460013e+01] [ 1.62204476e-01 9.86754191e-01 -2.42389209e-03 8.54113441e+00] [ 1.20061169e-02 4.82664495e-04 9.99927807e-01 8.87233719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.020281693 meters Centerline goodness : 0.999431 with order 1 Centerline is valid? [True, True] Translation: X:88.70, Y:8.56, Z:0.89 [[ 9.86417126e-01 -1.63837599e-01 -1.17683597e-02 8.86999205e+01] [ 1.63820297e-01 9.86487215e-01 -2.42600755e-03 8.55998483e+00] [ 1.20068076e-02 4.65159213e-04 9.99927807e-01 8.86961425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.080281693 meters Centerline goodness : 0.999295 with order 1 Centerline is valid? [True, True] Translation: X:88.75, Y:8.58, Z:0.89 [[ 9.85417290e-01 -1.69747680e-01 -1.17681711e-02 8.87549516e+01] [ 1.69730788e-01 9.85487478e-01 -2.42692188e-03 8.58045085e+00] [ 1.20093496e-02 3.94109823e-04 9.99927807e-01 8.86599027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.140281693 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:88.81, Y:8.60, Z:0.89 [[ 9.84425562e-01 -1.75407623e-01 -1.17677291e-02 8.88090364e+01] [ 1.75391109e-01 9.84495840e-01 -2.42906329e-03 8.59950237e+00] [ 1.20113566e-02 3.27276938e-04 9.99927807e-01 8.86054273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20028169300001 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:88.86, Y:8.62, Z:0.89 [[ 9.84290004e-01 -1.76166718e-01 -1.17675380e-02 8.88640395e+01] [ 1.76150247e-01 9.84360293e-01 -2.42998885e-03 8.61776220e+00] [ 1.20115803e-02 3.18959018e-04 9.99927807e-01 8.90880677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.260281693 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:88.92, Y:8.64, Z:0.89 [[ 9.84046776e-01 -1.77520358e-01 -1.17671018e-02 8.89189129e+01] [ 1.77503958e-01 9.84117081e-01 -2.43209898e-03 8.63680888e+00] [ 1.20119530e-02 3.04592009e-04 9.99927807e-01 8.89021533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.320281693 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:88.97, Y:8.65, Z:0.89 [[ 9.83421284e-01 -1.80953373e-01 -1.17666600e-02 8.89744779e+01] [ 1.80937193e-01 9.83491640e-01 -2.43423497e-03 8.64931118e+00] [ 1.20128947e-02 2.64852057e-04 9.99927808e-01 8.91256005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.380281693 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:89.03, Y:8.66, Z:0.89 [[ 9.82074801e-01 -1.88123995e-01 -1.17663602e-02 8.90308383e+01] [ 1.88108311e-01 9.82145270e-01 -2.43568285e-03 8.66094654e+00] [ 1.20144854e-02 1.78672596e-04 9.99927808e-01 8.90713155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.440281693 meters Centerline goodness : 0.999449 with order 1 Centerline is valid? [True, True] Translation: X:89.09, Y:8.67, Z:0.89 [[ 9.81097191e-01 -1.93157614e-01 -1.17659358e-02 8.90880822e+01] [ 1.93142267e-01 9.81167734e-01 -2.43773138e-03 8.66944283e+00] [ 1.20152229e-02 1.19151891e-04 9.99927808e-01 8.86405000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.500281693 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:89.14, Y:8.68, Z:0.89 [[ 9.81608573e-01 -1.90541809e-01 -1.17655151e-02 8.91449937e+01] [ 1.90526251e-01 9.81679069e-01 -2.43976035e-03 8.68127189e+00] [ 1.20148362e-02 1.53250205e-04 9.99927808e-01 8.92049285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56028169300001 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:89.20, Y:8.69, Z:0.90 [[ 9.82387008e-01 -1.86486863e-01 -1.17650835e-02 8.92014816e+01] [ 1.86470989e-01 9.82457433e-01 -2.44183953e-03 8.69284407e+00] [ 1.20140648e-02 2.04984665e-04 9.99927808e-01 8.96134319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.620281693 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:89.26, Y:8.71, Z:0.90 [[ 9.82821959e-01 -1.84180865e-01 -1.17646331e-02 8.92570707e+01] [ 1.84164799e-01 9.82892341e-01 -2.44400759e-03 8.70533549e+00] [ 1.20135072e-02 2.35393027e-04 9.99927808e-01 9.00417335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.680281693 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:89.31, Y:8.72, Z:0.90 [[ 9.83343102e-01 -1.81377903e-01 -1.17643255e-02 8.93130428e+01] [ 1.81361619e-01 9.83413434e-01 -2.44548741e-03 8.72151715e+00] [ 1.20127531e-02 2.71156062e-04 9.99927808e-01 8.95409596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.740281693 meters Centerline goodness : 0.998753 with order 1 Centerline is valid? [True, True] Translation: X:89.37, Y:8.74, Z:0.90 [[ 9.83496637e-01 -1.80543540e-01 -1.17641933e-02 8.93668379e+01] [ 1.80527188e-01 9.83566953e-01 -2.44612355e-03 8.74072510e+00] [ 1.20125035e-02 2.81997553e-04 9.99927808e-01 8.95994141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.800281693 meters Centerline goodness : 0.998512 with order 1 Centerline is valid? [True, True] Translation: X:89.42, Y:8.76, Z:0.89 [[ 9.84074852e-01 -1.77364862e-01 -1.17640105e-02 8.94217113e+01] [ 1.77348273e-01 9.84145112e-01 -2.44700203e-03 8.76274067e+00] [ 1.20115056e-02 3.21706203e-04 9.99927808e-01 8.93727576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.860281693 meters Centerline goodness : 0.998540 with order 1 Centerline is valid? [True, True] Translation: X:89.48, Y:8.78, Z:0.90 [[ 9.84167623e-01 -1.76849394e-01 -1.17635735e-02 8.94772076e+01] [ 1.76832743e-01 9.84237869e-01 -2.44910107e-03 8.78116725e+00] [ 1.20112766e-02 3.30141004e-04 9.99927808e-01 8.98917963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.920281693 meters Centerline goodness : 0.998475 with order 1 Centerline is valid? [True, True] Translation: X:89.53, Y:8.80, Z:0.90 [[ 9.83769444e-01 -1.79051122e-01 -1.17633688e-02 8.95328616e+01] [ 1.79034617e-01 9.83839724e-01 -2.45008414e-03 8.79805941e+00] [ 1.20119598e-02 3.04267691e-04 9.99927808e-01 9.04187011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.980281693 meters Centerline goodness : 0.998559 with order 1 Centerline is valid? [True, True] Translation: X:89.59, Y:8.81, Z:0.90 [[ 9.82654933e-01 -1.85070030e-01 -1.17629199e-02 8.95881505e+01] [ 1.85053930e-01 9.82725307e-01 -2.45223743e-03 8.81483693e+00] [ 1.20135547e-02 2.32928661e-04 9.99927808e-01 9.00059450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.040281693 meters Centerline goodness : 0.998407 with order 1 Centerline is valid? [True, True] Translation: X:89.64, Y:8.83, Z:0.90 [[ 9.81228357e-01 -1.92490406e-01 -1.17624683e-02 8.96445577e+01] [ 1.92474812e-01 9.81298845e-01 -2.45440164e-03 8.82907703e+00] [ 1.20149453e-02 1.44349612e-04 9.99927808e-01 9.00764431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.100281693 meters Centerline goodness : 0.998406 with order 1 Centerline is valid? [True, True] Translation: X:89.70, Y:8.84, Z:0.90 [[ 9.79833792e-01 -1.99467778e-01 -1.17620192e-02 8.97010369e+01] [ 1.99452660e-01 9.79904384e-01 -2.45655169e-03 8.84038664e+00] [ 1.20156571e-02 6.10463326e-05 9.99927808e-01 9.02802259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.160281693 meters Centerline goodness : 0.998445 with order 1 Centerline is valid? [True, True] Translation: X:89.76, Y:8.85, Z:0.90 [[ 9.77932669e-01 -2.08588977e-01 -1.17615686e-02 8.97577032e+01] [ 2.08574491e-01 9.78003393e-01 -2.45870731e-03 8.84874893e+00] [ 1.20157132e-02 -4.87129929e-05 9.99927808e-01 8.99581026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.220281693 meters Centerline goodness : 0.998592 with order 1 Centerline is valid? [True, True] Translation: X:89.82, Y:8.86, Z:0.90 [[ 9.77550375e-01 -2.10373319e-01 -1.17613740e-02 8.98152454e+01] [ 2.10358952e-01 9.77621124e-01 -2.45963792e-03 8.85573783e+00] [ 1.20156098e-02 -6.96903297e-05 9.99927808e-01 9.02760783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.280281693 meters Centerline goodness : 0.998545 with order 1 Centerline is valid? [True, True] Translation: X:89.87, Y:8.86, Z:0.91 [[ 9.78697206e-01 -2.04971852e-01 -1.17609342e-02 8.98729955e+01] [ 2.04957069e-01 9.78767868e-01 -2.46173909e-03 8.86440892e+00] [ 1.20158117e-02 -1.18942827e-06 9.99927808e-01 9.05404464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34028169300001 meters Centerline goodness : 0.998603 with order 1 Centerline is valid? [True, True] Translation: X:89.93, Y:8.88, Z:0.90 [[ 9.79815335e-01 -1.99558512e-01 -1.17604931e-02 8.99289821e+01] [ 1.99543313e-01 9.79885909e-01 -2.46384442e-03 8.87667002e+00] [ 1.20156226e-02 6.73847902e-05 9.99927808e-01 9.04692530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.400281693 meters Centerline goodness : 0.998607 with order 1 Centerline is valid? [True, True] Translation: X:89.98, Y:8.89, Z:0.91 [[ 9.81280698e-01 -1.92223535e-01 -1.17603009e-02 8.99841956e+01] [ 1.92207798e-01 9.81351154e-01 -2.46476149e-03 8.89484132e+00] [ 1.20147700e-02 1.58201339e-04 9.99927808e-01 9.05701606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.460281693 meters Centerline goodness : 0.998479 with order 1 Centerline is valid? [True, True] Translation: X:90.04, Y:8.92, Z:0.90 [[ 9.82602666e-01 -1.85347528e-01 -1.17598744e-02 9.00387352e+01] [ 1.85331273e-01 9.82673005e-01 -2.46679451e-03 8.91603397e+00] [ 1.20133254e-02 2.44406360e-04 9.99927808e-01 9.01959789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.520281693 meters Centerline goodness : 0.998715 with order 1 Centerline is valid? [True, True] Translation: X:90.09, Y:8.94, Z:0.91 [[ 9.82741572e-01 -1.84609636e-01 -1.17594411e-02 9.00925268e+01] [ 1.84593304e-01 9.82811893e-01 -2.46885844e-03 8.93956787e+00] [ 1.20130937e-02 2.55535739e-04 9.99927808e-01 9.07071697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.580281693 meters Centerline goodness : 0.998839 with order 1 Centerline is valid? [True, True] Translation: X:90.15, Y:8.96, Z:0.91 [[ 9.81353635e-01 -1.91850903e-01 -1.17589828e-02 9.01459870e+01] [ 1.91835064e-01 9.81424068e-01 -2.47103960e-03 8.96073111e+00] [ 1.20146199e-02 1.69178485e-04 9.99927808e-01 9.10250056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.640281693 meters Centerline goodness : 0.998705 with order 1 Centerline is valid? [True, True] Translation: X:90.20, Y:8.98, Z:0.91 [[ 9.80339994e-01 -1.96965045e-01 -1.17586730e-02 9.02019606e+01] [ 1.96949555e-01 9.80410506e-01 -2.47251286e-03 8.97748140e+00] [ 1.20153251e-02 1.08037830e-04 9.99927808e-01 9.05767143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70028169300001 meters Centerline goodness : 0.998684 with order 1 Centerline is valid? [True, True] Translation: X:90.26, Y:8.99, Z:0.91 [[ 9.79326668e-01 -2.01943111e-01 -1.17582493e-02 9.02578353e+01] [ 2.01927955e-01 9.79397252e-01 -2.47452627e-03 8.99479095e+00] [ 1.20157106e-02 4.90503362e-05 9.99927808e-01 9.07405734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.760281693 meters Centerline goodness : 0.998725 with order 1 Centerline is valid? [True, True] Translation: X:90.31, Y:9.01, Z:0.91 [[ 9.78604964e-01 -2.05411971e-01 -1.17578303e-02 9.03136144e+01] [ 2.05397042e-01 9.78675596e-01 -2.47651551e-03 9.01245424e+00] [ 1.20158075e-02 8.50681325e-06 9.99927808e-01 9.10967593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.820281693 meters Centerline goodness : 0.998689 with order 1 Centerline is valid? [True, True] Translation: X:90.37, Y:9.02, Z:0.91 [[ 9.77274699e-01 -2.11650483e-01 -1.17573948e-02 9.03707878e+01] [ 2.11635980e-01 9.77345419e-01 -2.47858145e-03 9.02464466e+00] [ 1.20156289e-02 -6.60328285e-05 9.99927808e-01 9.10730564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.880281693 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:90.43, Y:9.03, Z:0.91 [[ 9.75079673e-01 -2.21543236e-01 -1.17569623e-02 9.04288569e+01] [ 2.21529426e-01 9.75150532e-01 -2.48063088e-03 9.03179034e+00] [ 1.20143751e-02 -1.85700371e-04 9.99927808e-01 9.14138520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.940281693 meters Centerline goodness : 0.998812 with order 1 Centerline is valid? [True, True] Translation: X:90.49, Y:9.04, Z:0.91 [[ 9.74446773e-01 -2.24310655e-01 -1.17565336e-02 9.04851415e+01] [ 2.24297021e-01 9.74517667e-01 -2.48266121e-03 9.03881357e+00] [ 1.20138371e-02 -2.17734262e-04 9.99927808e-01 9.11576956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.000281693 meters Centerline goodness : 0.998652 with order 1 Centerline is valid? [True, True] Translation: X:90.54, Y:9.05, Z:0.91 [[ 9.75655573e-01 -2.18993136e-01 -1.17562426e-02 9.05432222e+01] [ 2.18979099e-01 9.75726388e-01 -2.48403830e-03 9.04576858e+00] [ 1.20148635e-02 -1.50805606e-04 9.99927808e-01 9.09664125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06028169300001 meters Centerline goodness : 0.998804 with order 1 Centerline is valid? [True, True] Translation: X:90.60, Y:9.05, Z:0.91 [[ 9.77242823e-01 -2.11797701e-01 -1.17557974e-02 9.06008888e+01] [ 2.11783117e-01 9.77313527e-01 -2.48614361e-03 9.05321285e+00] [ 1.20156593e-02 -6.01134228e-05 9.99927808e-01 9.12806842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.120281693 meters Centerline goodness : 0.998764 with order 1 Centerline is valid? [True, True] Translation: X:90.66, Y:9.06, Z:0.92 [[ 9.77231769e-01 -2.11848722e-01 -1.17553451e-02 9.06588067e+01] [ 2.11834116e-01 9.77302469e-01 -2.48828056e-03 9.05707162e+00] [ 1.20156668e-02 -5.85563146e-05 9.99927808e-01 9.16681541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.180281693 meters Centerline goodness : 0.998731 with order 1 Centerline is valid? [True, True] Translation: X:90.72, Y:9.06, Z:0.91 [[ 9.76476178e-01 -2.15304658e-01 -1.17548881e-02 9.07171491e+01] [ 2.15290277e-01 9.76546924e-01 -2.49043735e-03 9.05959943e+00] [ 1.20154026e-02 -9.88603747e-05 9.99927808e-01 9.12540575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.240281693 meters Centerline goodness : 0.998912 with order 1 Centerline is valid? [True, True] Translation: X:90.78, Y:9.07, Z:0.91 [[ 9.75788855e-01 -2.18398571e-01 -1.17547464e-02 9.07754435e+01] [ 2.18384406e-01 9.75859644e-01 -2.49110594e-03 9.06623202e+00] [ 1.20150366e-02 -1.36259896e-04 9.99927808e-01 9.09832932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.300281693 meters Centerline goodness : 0.998896 with order 1 Centerline is valid? [True, True] Translation: X:90.84, Y:9.07, Z:0.92 [[ 9.75684811e-01 -2.18862936e-01 -1.17543135e-02 9.08351433e+01] [ 2.18848781e-01 9.75755602e-01 -2.49314705e-03 9.06583280e+00] [ 1.20149947e-02 -1.39891469e-04 9.99927808e-01 9.16467352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.360281693 meters Centerline goodness : 0.998784 with order 1 Centerline is valid? [True, True] Translation: X:90.89, Y:9.07, Z:0.92 [[ 9.75813635e-01 -2.18287875e-01 -1.17538693e-02 9.08921686e+01] [ 2.18273652e-01 9.75884413e-01 -2.49523948e-03 9.07427138e+00] [ 1.20150983e-02 -1.30671263e-04 9.99927808e-01 9.17201285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.420281693 meters Centerline goodness : 0.998775 with order 1 Centerline is valid? [True, True] Translation: X:90.95, Y:9.08, Z:0.92 [[ 9.76846775e-01 -2.13617027e-01 -1.17534275e-02 9.09495562e+01] [ 2.13602441e-01 9.76917479e-01 -2.49731867e-03 9.08446794e+00] [ 1.20155986e-02 -7.10631094e-05 9.99927808e-01 9.16497517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.480281693 meters Centerline goodness : 0.998856 with order 1 Centerline is valid? [True, True] Translation: X:91.00, Y:9.10, Z:0.92 [[ 9.78488306e-01 -2.05967236e-01 -1.17529753e-02 9.10036730e+01] [ 2.05952072e-01 9.78558888e-01 -2.49944530e-03 9.10231574e+00] [ 1.20157822e-02 2.51283918e-05 9.99927808e-01 9.20579380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.540281693 meters Centerline goodness : 0.998841 with order 1 Centerline is valid? [True, True] Translation: X:91.06, Y:9.12, Z:0.92 [[ 9.79343957e-01 -2.01859570e-01 -1.17527789e-02 9.10577568e+01] [ 2.01844098e-01 9.79414472e-01 -2.50036806e-03 9.12133448e+00] [ 1.20155650e-02 7.64912842e-05 9.99927808e-01 9.17018309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.600281693 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:91.11, Y:9.14, Z:0.92 [[ 9.79251440e-01 -2.02307920e-01 -1.17525840e-02 9.11133904e+01] [ 2.02292470e-01 9.79321959e-01 -2.50128380e-03 9.13812417e+00] [ 1.20155932e-02 7.19265129e-05 9.99927808e-01 9.17860111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.660281693 meters Centerline goodness : 0.998896 with order 1 Centerline is valid? [True, True] Translation: X:91.17, Y:9.15, Z:0.92 [[ 9.78837871e-01 -2.04299556e-01 -1.17521385e-02 9.11675865e+01] [ 2.04284224e-01 9.78908417e-01 -2.50337546e-03 9.15475950e+00] [ 1.20157058e-02 4.96222127e-05 9.99927808e-01 9.23128880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.720281693 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:91.22, Y:9.17, Z:0.92 [[ 9.78603887e-01 -2.05417439e-01 -1.17519457e-02 9.12231429e+01] [ 2.05402176e-01 9.78674448e-01 -2.50428038e-03 9.17227787e+00] [ 1.20157518e-02 3.68233007e-05 9.99927808e-01 9.21719222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.780281693 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:91.28, Y:9.19, Z:0.92 [[ 9.78458198e-01 -2.06110302e-01 -1.17515078e-02 9.12781930e+01] [ 2.06095065e-01 9.78528764e-01 -2.50633322e-03 9.18521599e+00] [ 1.20157695e-02 3.04145239e-05 9.99927808e-01 9.21923201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84028169300001 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:91.33, Y:9.20, Z:0.92 [[ 9.78096949e-01 -2.07817869e-01 -1.17512108e-02 9.13340546e+01] [ 2.07802738e-01 9.78167538e-01 -2.50772516e-03 9.19958472e+00] [ 1.20158030e-02 1.08645513e-05 9.99927808e-01 9.22443438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.900281693 meters Centerline goodness : 0.998837 with order 1 Centerline is valid? [True, True] Translation: X:91.39, Y:9.21, Z:0.92 [[ 9.78189123e-01 -2.07383604e-01 -1.17507481e-02 9.13899618e+01] [ 2.07368416e-01 9.78259700e-01 -2.50989137e-03 9.21384238e+00] [ 1.20157936e-02 1.84144165e-05 9.99927808e-01 9.21234180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.960281693 meters Centerline goodness : 0.999023 with order 1 Centerline is valid? [True, True] Translation: X:91.45, Y:9.23, Z:0.92 [[ 9.78177728e-01 -2.07437370e-01 -1.17502856e-02 9.14459930e+01] [ 2.07422160e-01 9.78248300e-01 -2.51205489e-03 9.22908538e+00] [ 1.20157909e-02 1.99665274e-05 9.99927808e-01 9.22524736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.020281693 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:91.50, Y:9.24, Z:0.92 [[ 9.77751492e-01 -2.09437252e-01 -1.17498248e-02 9.15013842e+01] [ 2.09422160e-01 9.77822089e-01 -2.51420801e-03 9.24078127e+00] [ 1.20158071e-02 -2.40307156e-06 9.99927808e-01 9.24853321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.080281693 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:91.56, Y:9.25, Z:0.92 [[ 9.76732223e-01 -2.14140400e-01 -1.17496262e-02 9.15581459e+01] [ 2.14125637e-01 9.76802890e-01 -2.51513615e-03 9.24801128e+00] [ 1.20156611e-02 -5.92816699e-05 9.99927808e-01 9.20170252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.140281693 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:91.62, Y:9.25, Z:0.92 [[ 9.75671543e-01 -2.18922338e-01 -1.17494301e-02 9.16156636e+01] [ 2.18907911e-01 9.75742280e-01 -2.51605165e-03 9.25399079e+00] [ 1.20152356e-02 -1.17203208e-04 9.99927808e-01 9.19336806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20028169300001 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:91.67, Y:9.26, Z:0.92 [[ 9.75919299e-01 -2.17815249e-01 -1.17489837e-02 9.16728274e+01] [ 2.17800716e-01 9.75990014e-01 -2.51813468e-03 9.26284284e+00] [ 1.20153789e-02 -1.01440822e-04 9.99927808e-01 9.21805645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.260281693 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:91.73, Y:9.27, Z:0.92 [[ 9.76929877e-01 -2.13236928e-01 -1.17485185e-02 9.17293922e+01] [ 2.13222037e-01 9.77000517e-01 -2.52030309e-03 9.27324258e+00] [ 1.20157303e-02 -4.28836635e-05 9.99927808e-01 9.23476098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.320281693 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:91.79, Y:9.28, Z:0.92 [[ 9.77690733e-01 -2.09720800e-01 -1.17480495e-02 9.17850165e+01] [ 2.09705629e-01 9.77761313e-01 -2.52248732e-03 9.28449149e+00] [ 1.20158064e-02 2.58035980e-06 9.99927808e-01 9.24432622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.380281693 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:91.84, Y:9.30, Z:0.93 [[ 9.78464140e-01 -2.06082300e-01 -1.17478460e-02 9.18400339e+01] [ 2.06066855e-01 9.78534661e-01 -2.52343492e-03 9.29713974e+00] [ 1.20157097e-02 4.82489085e-05 9.99927808e-01 9.28402633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.440281693 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:91.90, Y:9.31, Z:0.93 [[ 9.78531605e-01 -2.05761739e-01 -1.17475377e-02 9.18972480e+01] [ 2.05746255e-01 9.78602117e-01 -2.52486934e-03 9.30899404e+00] [ 1.20156867e-02 5.36525721e-05 9.99927808e-01 9.30066357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.500281693 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:91.95, Y:9.32, Z:0.93 [[ 9.77998594e-01 -2.08280478e-01 -1.17470697e-02 9.19537750e+01] [ 2.08265149e-01 9.78069140e-01 -2.52704479e-03 9.31927143e+00] [ 1.20157804e-02 2.49410418e-05 9.99927808e-01 9.31073899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56028169300001 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:92.01, Y:9.33, Z:0.93 [[ 9.78198566e-01 -2.07339280e-01 -1.17468667e-02 9.20105432e+01] [ 2.07323872e-01 9.78269095e-01 -2.52798817e-03 9.32995412e+00] [ 1.20157479e-02 3.74685269e-05 9.99927808e-01 9.28961415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.620281693 meters Centerline goodness : 0.999279 with order 1 Centerline is valid? [True, True] Translation: X:92.07, Y:9.34, Z:0.93 [[ 9.78810971e-01 -2.04428726e-01 -1.17464119e-02 9.20654396e+01] [ 2.04413083e-01 9.78881449e-01 -2.53009968e-03 9.34405527e+00] [ 1.20155697e-02 7.53690663e-05 9.99927808e-01 9.29024257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.680281693 meters Centerline goodness : 0.999427 with order 1 Centerline is valid? [True, True] Translation: X:92.12, Y:9.36, Z:0.93 [[ 9.79720865e-01 -2.00022631e-01 -1.17462154e-02 9.21210282e+01] [ 2.00006660e-01 9.79791269e-01 -2.53101129e-03 9.35899778e+00] [ 1.20150989e-02 1.30363255e-04 9.99927808e-01 9.31538099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.740281693 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:92.18, Y:9.37, Z:0.93 [[ 9.79930547e-01 -1.98992862e-01 -1.17457761e-02 9.21773554e+01] [ 1.98976792e-01 9.80000929e-01 -2.53304860e-03 9.37408294e+00] [ 1.20149300e-02 1.45074864e-04 9.99927808e-01 9.29640170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.800281693 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:92.23, Y:9.39, Z:0.93 [[ 9.79754136e-01 -1.99859653e-01 -1.17453237e-02 9.22333152e+01] [ 1.99843621e-01 9.79824525e-01 -2.53514439e-03 9.39006296e+00] [ 1.20150293e-02 1.36590181e-04 9.99927808e-01 9.28485482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.860281693 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:92.29, Y:9.41, Z:0.93 [[ 9.80227160e-01 -1.97526638e-01 -1.17448605e-02 9.22893164e+01] [ 1.97510413e-01 9.80297505e-01 -2.53728875e-03 9.40751436e+00] [ 1.20146395e-02 1.67387110e-04 9.99927808e-01 9.31427195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.920281693 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:92.34, Y:9.42, Z:0.93 [[ 9.80558128e-01 -1.95877070e-01 -1.17443990e-02 9.23443823e+01] [ 1.95860700e-01 9.80628440e-01 -2.53942304e-03 9.42270607e+00] [ 1.20143064e-02 1.89785691e-04 9.99927808e-01 9.29111354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.980281693 meters Centerline goodness : 0.999426 with order 1 Centerline is valid? [True, True] Translation: X:92.40, Y:9.44, Z:0.93 [[ 9.79687419e-01 -2.00186501e-01 -1.17441987e-02 9.24001386e+01] [ 2.00170429e-01 9.79757800e-01 -2.54034909e-03 9.43969047e+00] [ 1.20150138e-02 1.37906761e-04 9.99927808e-01 9.31781109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.040281693 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:92.46, Y:9.45, Z:0.94 [[ 9.78204701e-01 -2.07310510e-01 -1.17437301e-02 9.24568569e+01] [ 2.07294925e-01 9.78275191e-01 -2.54251331e-03 9.45206985e+00] [ 1.20156895e-02 5.26828130e-05 9.99927808e-01 9.36970765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.100281693 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:92.51, Y:9.47, Z:0.94 [[ 9.77374072e-01 -2.11191901e-01 -1.17432648e-02 9.25125100e+01] [ 2.11176570e-01 9.77444618e-01 -2.54466043e-03 9.46691351e+00] [ 1.20158027e-02 7.18273994e-06 9.99927808e-01 9.36775205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.160281693 meters Centerline goodness : 0.999428 with order 1 Centerline is valid? [True, True] Translation: X:92.57, Y:9.48, Z:0.94 [[ 9.77473648e-01 -2.10730570e-01 -1.17428001e-02 9.25675643e+01] [ 2.10715180e-01 9.77544181e-01 -2.54680323e-03 9.48195687e+00] [ 1.20157952e-02 1.50468041e-05 9.99927808e-01 9.40854789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.220281693 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:92.62, Y:9.50, Z:0.95 [[ 9.78219071e-01 -2.07242759e-01 -1.17426000e-02 9.26231374e+01] [ 2.07227107e-01 9.78289546e-01 -2.54772550e-03 9.50002949e+00] [ 1.20156605e-02 5.88486448e-05 9.99927808e-01 9.46091980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.280281693 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:92.68, Y:9.52, Z:0.94 [[ 9.78354424e-01 -2.06602863e-01 -1.17421525e-02 9.26791524e+01] [ 2.06587140e-01 9.78424883e-01 -2.54978639e-03 9.51820045e+00] [ 1.20156074e-02 6.88170926e-05 9.99927808e-01 9.39120714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.340281693 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:92.74, Y:9.53, Z:0.94 [[ 9.78024650e-01 -2.08158390e-01 -1.17417620e-02 9.27352318e+01] [ 2.08142757e-01 9.78095129e-01 -2.55158349e-03 9.53347736e+00] [ 1.20156937e-02 5.15488378e-05 9.99927808e-01 9.37894018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.400281693 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:92.79, Y:9.55, Z:0.94 [[ 9.77216248e-01 -2.11921085e-01 -1.17412794e-02 9.27898913e+01] [ 2.11905697e-01 9.77286782e-01 -2.55380190e-03 9.54815247e+00] [ 1.20158017e-02 7.57271438e-06 9.99927808e-01 9.37237402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.460281693 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:92.85, Y:9.56, Z:0.94 [[ 9.76890140e-01 -2.13419310e-01 -1.17410704e-02 9.28457112e+01] [ 2.13404019e-01 9.76960694e-01 -2.55476276e-03 9.56334479e+00] [ 1.20158000e-02 -9.86905189e-06 9.99927808e-01 9.43340720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.520281693 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:92.90, Y:9.58, Z:0.94 [[ 9.77123907e-01 -2.12346483e-01 -1.17405804e-02 9.29006772e+01] [ 2.12331087e-01 9.77194439e-01 -2.55701261e-03 9.58020438e+00] [ 1.20158025e-02 5.62795718e-06 9.99927808e-01 9.43356128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.580281693 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:92.96, Y:9.59, Z:0.94 [[ 9.76766732e-01 -2.13983446e-01 -1.17403684e-02 9.29562912e+01] [ 2.13968157e-01 9.76837287e-01 -2.55798557e-03 9.59471412e+00] [ 1.20157962e-02 -1.35097776e-05 9.99927808e-01 9.43540039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.640281693 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:93.01, Y:9.61, Z:0.95 [[ 9.76095180e-01 -2.17026193e-01 -1.17401639e-02 9.30126301e+01] [ 2.17011113e-01 9.76165779e-01 -2.55892373e-03 9.60875972e+00] [ 1.20156997e-02 -4.99929164e-05 9.99927808e-01 9.45633106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70028169300001 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:93.07, Y:9.62, Z:0.95 [[ 9.75885998e-01 -2.17964901e-01 -1.17396967e-02 9.30691969e+01] [ 2.17949862e-01 9.75956607e-01 -2.56106528e-03 9.62280775e+00] [ 1.20156569e-02 -5.93575383e-05 9.99927808e-01 9.45700032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.760281693 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:93.12, Y:9.64, Z:0.94 [[ 9.75424069e-01 -2.20022902e-01 -1.17392191e-02 9.31237404e+01] [ 2.20007986e-01 9.75494703e-01 -2.56325282e-03 9.63927219e+00] [ 1.20155203e-02 -8.24634511e-05 9.99927808e-01 9.42477824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.820281693 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:93.18, Y:9.65, Z:0.95 [[ 9.74933151e-01 -2.22188090e-01 -1.17390128e-02 9.31786193e+01] [ 2.22173320e-01 9.75003816e-01 -2.56419715e-03 9.65337940e+00] [ 1.20153163e-02 -1.08174630e-04 9.99927808e-01 9.46493149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.880281693 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:93.24, Y:9.66, Z:0.95 [[ 9.73607570e-01 -2.27926523e-01 -1.17388088e-02 9.32354850e+01] [ 2.27912158e-01 9.73678319e-01 -2.56513057e-03 9.66341010e+00] [ 1.20144849e-02 -1.77986707e-04 9.99927808e-01 9.47961529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.940281693 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:93.29, Y:9.67, Z:0.95 [[ 9.72887902e-01 -2.30979095e-01 -1.17383551e-02 9.32927691e+01] [ 2.30964926e-01 9.72958690e-01 -2.56720502e-03 9.67206868e+00] [ 1.20139053e-02 -2.13545621e-04 9.99927808e-01 9.46673264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.000281693 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:93.35, Y:9.68, Z:0.95 [[ 9.72974436e-01 -2.30614330e-01 -1.17378894e-02 9.33494088e+01] [ 2.30600109e-01 9.73045214e-01 -2.56933259e-03 9.68088343e+00] [ 1.20140220e-02 -2.06863658e-04 9.99927808e-01 9.45916938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06028169300001 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:93.41, Y:9.69, Z:0.95 [[ 9.73825679e-01 -2.26992891e-01 -1.17376883e-02 9.34061536e+01] [ 2.26978397e-01 9.73896402e-01 -2.57025108e-03 9.68916528e+00] [ 1.20147211e-02 -1.61225167e-04 9.99927808e-01 9.46337222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.120281693 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:93.46, Y:9.70, Z:0.95 [[ 9.75934295e-01 -2.17748670e-01 -1.17374895e-02 9.34629811e+01] [ 2.17733494e-01 9.76004874e-01 -2.57115870e-03 9.70132091e+00] [ 1.20157133e-02 -4.63626464e-05 9.99927808e-01 9.50013966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.180281693 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:93.52, Y:9.72, Z:0.95 [[ 9.77462372e-01 -2.10783190e-01 -1.17370413e-02 9.35189332e+01] [ 2.10767487e-01 9.77532836e-01 -2.57320296e-03 9.71681558e+00] [ 1.20157312e-02 4.14223678e-05 9.99927808e-01 9.51601350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.240281693 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:93.58, Y:9.73, Z:0.95 [[ 9.77399500e-01 -2.11074561e-01 -1.17365828e-02 9.35751892e+01] [ 2.11058854e-01 9.77469963e-01 -2.57529232e-03 9.72904278e+00] [ 1.20157359e-02 3.99797057e-05 9.99927808e-01 9.47140602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.300281693 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:93.63, Y:9.75, Z:0.95 [[ 9.77138309e-01 -2.12280446e-01 -1.17361103e-02 9.36295820e+01] [ 2.12264800e-01 9.77208786e-01 -2.57744412e-03 9.74559717e+00] [ 1.20157711e-02 2.73562833e-05 9.99927808e-01 9.49266902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.360281693 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:93.69, Y:9.76, Z:0.95 [[ 9.77104932e-01 -2.12434039e-01 -1.17359061e-02 9.36857382e+01] [ 2.12418393e-01 9.77175408e-01 -2.57837327e-03 9.76066898e+00] [ 1.20157731e-02 2.64189194e-05 9.99927808e-01 9.52845466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.420281693 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:93.74, Y:9.78, Z:0.96 [[ 9.77224258e-01 -2.11884471e-01 -1.17354359e-02 9.37404077e+01] [ 2.11868759e-01 9.77294720e-01 -2.58051184e-03 9.77643454e+00] [ 1.20157499e-02 3.53665276e-05 9.99927808e-01 9.55616641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.480281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:93.80, Y:9.79, Z:0.95 [[ 9.76958281e-01 -2.13107489e-01 -1.17352327e-02 9.37964947e+01] [ 2.13091854e-01 9.77028760e-01 -2.58143535e-03 9.79116976e+00] [ 1.20157831e-02 2.12721389e-05 9.99927808e-01 9.54761740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.540281693 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:93.85, Y:9.80, Z:0.95 [[ 9.76494964e-01 -2.15220536e-01 -1.17347876e-02 9.38534143e+01] [ 2.15205030e-01 9.76565472e-01 -2.58345737e-03 9.80365600e+00] [ 1.20158015e-02 -2.65220410e-06 9.99927808e-01 9.53495401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.600281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:93.91, Y:9.81, Z:0.95 [[ 9.75350867e-01 -2.20347433e-01 -1.17343344e-02 9.39108573e+01] [ 2.20332273e-01 9.75421450e-01 -2.58551407e-03 9.81228691e+00] [ 1.20156329e-02 -6.36691835e-05 9.99927808e-01 9.48871033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.660281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:93.97, Y:9.82, Z:0.95 [[ 9.74425657e-01 -2.24403554e-01 -1.17338868e-02 9.39682794e+01] [ 2.24388663e-01 9.74496297e-01 -2.58754383e-03 9.81855215e+00] [ 1.20152833e-02 -1.11582073e-04 9.99927808e-01 9.52887037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.720281693 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:94.03, Y:9.82, Z:0.95 [[ 9.74286865e-01 -2.25005384e-01 -1.17337482e-02 9.40263177e+01] [ 2.24990530e-01 9.74357513e-01 -2.58817225e-03 9.82394261e+00] [ 1.20152184e-02 -1.18359994e-04 9.99927808e-01 9.53063589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.780281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:94.08, Y:9.83, Z:0.95 [[ 9.74917241e-01 -2.22258189e-01 -1.17332949e-02 9.40841611e+01] [ 2.22243110e-01 9.74987841e-01 -2.59022565e-03 9.83283558e+00] [ 1.20155187e-02 -8.23883010e-05 9.99927808e-01 9.54858409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.840281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:94.14, Y:9.84, Z:0.96 [[ 9.76283597e-01 -2.16177426e-01 -1.17328377e-02 9.41403433e+01] [ 2.16161883e-01 9.76354096e-01 -2.59229500e-03 9.84164086e+00] [ 1.20157998e-02 -5.37720327e-06 9.99927808e-01 9.59063630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.900281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:94.20, Y:9.86, Z:0.96 [[ 9.78122721e-01 -2.07697588e-01 -1.17326396e-02 9.41968797e+01] [ 2.07681423e-01 9.78193080e-01 -2.59319113e-03 9.85502907e+00] [ 1.20153864e-02 9.98078696e-05 9.99927808e-01 9.58458556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.960281693 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:94.25, Y:9.87, Z:0.96 [[ 9.79168017e-01 -2.02712483e-01 -1.17321514e-02 9.42535395e+01] [ 2.02695933e-01 9.79238287e-01 -2.59539824e-03 9.86929128e+00] [ 1.20146914e-02 1.63271577e-04 9.99927808e-01 9.61050328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.020281693 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:94.31, Y:9.88, Z:0.96 [[ 9.79147284e-01 -2.02812631e-01 -1.17316657e-02 9.43098490e+01] [ 2.02796062e-01 9.79217550e-01 -2.59759182e-03 9.88340858e+00] [ 1.20146773e-02 1.64289369e-04 9.99927808e-01 9.60617665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.080281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:94.36, Y:9.90, Z:0.96 [[ 9.79225125e-01 -2.02436492e-01 -1.17311724e-02 9.43643702e+01] [ 2.02419870e-01 9.79295378e-01 -2.59981746e-03 9.89859271e+00] [ 1.20145809e-02 1.71184182e-04 9.99927808e-01 9.58818776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.140281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:94.42, Y:9.92, Z:0.95 [[ 9.79997498e-01 -1.98663767e-01 -1.17308370e-02 9.44201305e+01] [ 1.98646855e-01 9.80067681e-01 -2.60133032e-03 9.91638999e+00] [ 1.20138043e-02 2.19003327e-04 9.99927808e-01 9.54936380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20028169300001 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:94.47, Y:9.93, Z:0.96 [[ 9.80396241e-01 -1.96686579e-01 -1.17303468e-02 9.44749877e+01] [ 1.96669500e-01 9.80466384e-01 -2.60353870e-03 9.93236909e+00] [ 1.20132918e-02 2.45498106e-04 9.99927808e-01 9.56137993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.260281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:94.53, Y:9.95, Z:0.96 [[ 9.80511729e-01 -1.96110053e-01 -1.17301350e-02 9.45305661e+01] [ 1.96092921e-01 9.80581859e-01 -2.60449243e-03 9.95019447e+00] [ 1.20131248e-02 2.53538937e-04 9.99927808e-01 9.58528458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.320281693 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:94.59, Y:9.97, Z:0.96 [[ 9.80036229e-01 -1.98472683e-01 -1.17296482e-02 9.45860002e+01] [ 1.98455695e-01 9.80106393e-01 -2.60668332e-03 9.96731731e+00] [ 1.20136586e-02 2.26828618e-04 9.99927808e-01 9.64421161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.380281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:94.64, Y:9.99, Z:0.97 [[ 9.79746318e-01 -1.99898923e-01 -1.17291538e-02 9.46401408e+01] [ 1.99882009e-01 9.79816501e-01 -2.60890583e-03 9.98526245e+00] [ 1.20139359e-02 2.11619050e-04 9.99927808e-01 9.66417057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.440281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:94.70, Y:10.00, Z:0.96 [[ 9.79390479e-01 -2.01635128e-01 -1.17288164e-02 9.46957680e+01] [ 2.01618321e-01 9.79460687e-01 -2.61042199e-03 1.00025802e+01] [ 1.20142673e-02 1.91878178e-04 9.99927808e-01 9.62741472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.500281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:94.75, Y:10.02, Z:0.96 [[ 9.77881400e-01 -2.08831067e-01 -1.17283328e-02 9.47505338e+01] [ 2.08814750e-01 9.77951724e-01 -2.61259292e-03 1.00180024e+01] [ 1.20153338e-02 1.05757141e-04 9.99927808e-01 9.63585407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56028169300001 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:94.81, Y:10.04, Z:0.97 [[ 9.76029946e-01 -2.17320035e-01 -1.17280011e-02 9.48057330e+01] [ 2.17304312e-01 9.76100406e-01 -2.61408104e-03 1.00352289e+01] [ 1.20157988e-02 2.87617182e-06 9.99927808e-01 9.66113973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.620281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:94.86, Y:10.05, Z:0.97 [[ 9.75445910e-01 -2.19926672e-01 -1.17275676e-02 9.48615636e+01] [ 2.19911114e-01 9.75516406e-01 -2.61602435e-03 1.00490977e+01] [ 1.20157681e-02 -2.72322027e-05 9.99927808e-01 9.65374491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.680281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:94.92, Y:10.06, Z:0.97 [[ 9.73688756e-01 -2.27580054e-01 -1.17271133e-02 9.49183052e+01] [ 2.27565026e-01 9.73759367e-01 -2.61805936e-03 1.00623811e+01] [ 1.20152045e-02 -1.19505879e-04 9.99927808e-01 9.66000582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.740281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:94.97, Y:10.07, Z:0.96 [[ 9.72198900e-01 -2.33862747e-01 -1.17266265e-02 9.49748812e+01] [ 2.33848149e-01 9.72269601e-01 -2.62023802e-03 1.00742084e+01] [ 1.20142185e-02 -1.94857377e-04 9.99927808e-01 9.62386424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.800281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:95.03, Y:10.09, Z:0.96 [[ 9.71149628e-01 -2.38182473e-01 -1.17264768e-02 9.50314885e+01] [ 2.38168181e-01 9.71220391e-01 -2.62090774e-03 1.00861008e+01] [ 1.20132477e-02 -2.47580075e-04 9.99927808e-01 9.62563457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.860281693 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:95.09, Y:10.09, Z:0.98 [[ 9.69422758e-01 -2.45116332e-01 -1.17260009e-02 9.50889369e+01] [ 2.45102521e-01 9.69493617e-01 -2.62303533e-03 1.00931775e+01] [ 1.20112318e-02 -3.31242224e-04 9.99927808e-01 9.75518127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.920281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:95.15, Y:10.09, Z:0.97 [[ 9.68718558e-01 -2.47884788e-01 -1.17255024e-02 9.51469790e+01] [ 2.47871152e-01 9.68789451e-01 -2.62526155e-03 1.00949167e+01] [ 1.20103055e-02 -3.63274220e-04 9.99927808e-01 9.72949408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.980281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:95.20, Y:10.10, Z:0.97 [[ 9.70258232e-01 -2.41788095e-01 -1.17251650e-02 9.52049807e+01] [ 2.41773996e-01 9.70329034e-01 -2.62676754e-03 1.01008566e+01] [ 1.20123892e-02 -2.86197168e-04 9.99927808e-01 9.68961913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.040281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:95.26, Y:10.11, Z:0.97 [[ 9.72624513e-01 -2.32086379e-01 -1.17247043e-02 9.52612569e+01] [ 2.32071549e-01 9.72695166e-01 -2.62882256e-03 1.01097153e+01] [ 1.20146771e-02 -1.64113016e-04 9.99927808e-01 9.70075126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.100281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:95.32, Y:10.12, Z:0.97 [[ 9.73569086e-01 -2.28091586e-01 -1.17245035e-02 9.53190403e+01] [ 2.28076454e-01 9.73639674e-01 -2.62971779e-03 1.01189301e+01] [ 1.20152583e-02 -1.13871238e-04 9.99927808e-01 9.69419718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.160281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:95.38, Y:10.13, Z:0.97 [[ 9.72959568e-01 -2.30677753e-01 -1.17240506e-02 9.53761293e+01] [ 2.30662784e-01 9.73030192e-01 -2.63173555e-03 1.01291499e+01] [ 1.20149380e-02 -1.43729866e-04 9.99927808e-01 9.69059555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.220281693 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:95.43, Y:10.14, Z:0.97 [[ 9.72851253e-01 -2.31134155e-01 -1.17235636e-02 9.54325332e+01] [ 2.31119194e-01 9.72921878e-01 -2.63390316e-03 1.01414933e+01] [ 1.20148965e-02 -1.47144564e-04 9.99927808e-01 9.73143813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.280281693 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:95.49, Y:10.15, Z:0.98 [[ 9.73892764e-01 -2.26705637e-01 -1.17234128e-02 9.54893612e+01] [ 2.26690347e-01 9.73963318e-01 -2.63457384e-03 1.01540647e+01] [ 1.20154468e-02 -9.17921311e-05 9.99927808e-01 9.76649271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.340281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:95.55, Y:10.17, Z:0.98 [[ 9.75219877e-01 -2.20927058e-01 -1.17229340e-02 9.55461136e+01] [ 2.20911324e-01 9.75290333e-01 -2.63670272e-03 1.01675114e+01] [ 1.20157832e-02 -1.83639842e-05 9.99927808e-01 9.75194079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.400281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:95.60, Y:10.19, Z:0.98 [[ 9.76606204e-01 -2.14715876e-01 -1.17224380e-02 9.56000199e+01] [ 2.14699667e-01 9.76676553e-01 -2.63890601e-03 1.01851752e+01] [ 1.20156454e-02 6.03684390e-05 9.99927808e-01 9.78299494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.460281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:95.65, Y:10.20, Z:0.97 [[ 9.77664248e-01 -2.09845681e-01 -1.17221003e-02 9.56547870e+01] [ 2.09829104e-01 9.77734512e-01 -2.64040552e-03 1.02048208e+01] [ 1.20151797e-02 1.21792281e-04 9.99927808e-01 9.73874977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.520281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:95.71, Y:10.22, Z:0.97 [[ 9.77675401e-01 -2.09793725e-01 -1.17219521e-02 9.57096099e+01] [ 2.09777136e-01 9.77745661e-01 -2.64106328e-03 1.02241200e+01] [ 1.20151663e-02 1.23105061e-04 9.99927808e-01 9.73611064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.580281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:95.76, Y:10.25, Z:0.98 [[ 9.77281304e-01 -2.11621973e-01 -1.17214684e-02 9.57648643e+01] [ 2.11605490e-01 9.77351590e-01 -2.64320829e-03 1.02465532e+01] [ 1.20153567e-02 1.02830991e-04 9.99927808e-01 9.77654357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.640281693 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:95.82, Y:10.27, Z:0.99 [[ 9.77135352e-01 -2.12294891e-01 -1.17210488e-02 9.58196546e+01] [ 2.12278435e-01 9.77205644e-01 -2.64506743e-03 1.02683597e+01] [ 1.20154093e-02 9.64629977e-05 9.99927808e-01 9.85766088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70028169300001 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:95.87, Y:10.29, Z:0.98 [[ 9.76619639e-01 -2.14654858e-01 -1.17205732e-02 9.58744333e+01] [ 2.14638546e-01 9.76689965e-01 -2.64717315e-03 1.02881878e+01] [ 1.20155948e-02 6.95944970e-05 9.99927808e-01 9.81679648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.760281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:95.93, Y:10.30, Z:0.98 [[ 9.75890392e-01 -2.17946282e-01 -1.17200810e-02 9.59302522e+01] [ 2.17930181e-01 9.75960766e-01 -2.64935060e-03 1.03022524e+01] [ 1.20157553e-02 3.13164216e-05 9.99927808e-01 9.78048545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.820281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:95.99, Y:10.32, Z:0.98 [[ 9.74547510e-01 -2.23874506e-01 -1.17199293e-02 9.59863744e+01] [ 2.23858825e-01 9.74617978e-01 -2.65002166e-03 1.03166329e+01] [ 1.20157261e-02 -4.10375899e-05 9.99927808e-01 9.79559810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.880281693 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:96.04, Y:10.33, Z:0.98 [[ 9.73981273e-01 -2.26325282e-01 -1.17194693e-02 9.60429370e+01] [ 2.26309754e-01 9.74051776e-01 -2.65205441e-03 1.03308959e+01] [ 1.20155968e-02 -6.91788812e-05 9.99927808e-01 9.80574407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.940281693 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:96.10, Y:10.35, Z:0.98 [[ 9.74492217e-01 -2.24115114e-01 -1.17190123e-02 9.60991773e+01] [ 2.24099402e-01 9.74562678e-01 -2.65407234e-03 1.03455232e+01] [ 1.20157297e-02 -3.98507908e-05 9.99927808e-01 9.82118192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.000281693 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:96.16, Y:10.36, Z:0.98 [[ 9.75128639e-01 -2.21329649e-01 -1.17185349e-02 9.61569599e+01] [ 2.21313710e-01 9.75199050e-01 -2.65617818e-03 1.03583042e+01] [ 1.20157951e-02 -3.35703362e-06 9.99927808e-01 9.79383541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06028169300001 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:96.21, Y:10.37, Z:0.98 [[ 9.75528203e-01 -2.19561863e-01 -1.17180971e-02 9.62124997e+01] [ 2.19545774e-01 9.75598579e-01 -2.65810841e-03 1.03742039e+01] [ 1.20157781e-02 2.04010291e-05 9.99927808e-01 9.82260486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.120281693 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:96.27, Y:10.39, Z:0.99 [[ 9.75367189e-01 -2.20276047e-01 -1.17179419e-02 9.62696055e+01] [ 2.20260001e-01 9.75437575e-01 -2.65879252e-03 1.03874049e+01] [ 1.20157891e-02 1.23051026e-05 9.99927808e-01 9.88439716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.180281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:96.33, Y:10.40, Z:0.99 [[ 9.74986137e-01 -2.21956599e-01 -1.17175186e-02 9.63257335e+01] [ 2.21940652e-01 9.75056546e-01 -2.66065675e-03 1.04023070e+01] [ 1.20157935e-02 -6.49025639e-06 9.99927808e-01 9.88741609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.240281693 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:96.38, Y:10.41, Z:0.99 [[ 9.73022666e-01 -2.30411810e-01 -1.17170308e-02 9.63826051e+01] [ 2.30396449e-01 9.73093205e-01 -2.66280283e-03 1.04126611e+01] [ 1.20153043e-02 -1.08594789e-04 9.99927808e-01 9.91243539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.300281693 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:96.44, Y:10.42, Z:0.99 [[ 9.70431343e-01 -2.41092786e-01 -1.17165240e-02 9.64397382e+01] [ 2.41078174e-01 9.70502041e-01 -2.66503101e-03 1.04206294e+01] [ 1.20134302e-02 -2.38368595e-04 9.99927808e-01 9.92236484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.360281693 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:96.50, Y:10.42, Z:0.99 [[ 9.66270915e-01 -2.57261060e-01 -1.17160161e-02 9.64999600e+01] [ 2.57247603e-01 9.66341842e-01 -2.66726186e-03 1.04151252e+01] [ 1.20078592e-02 -4.36619516e-04 9.99927808e-01 9.90225307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.420281693 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:96.56, Y:10.42, Z:0.99 [[ 9.65724372e-01 -2.59305181e-01 -1.17157974e-02 9.65580989e+01] [ 2.59291863e-01 9.65795325e-01 -2.66822236e-03 1.04198388e+01] [ 1.20069462e-02 -4.61043568e-04 9.99927808e-01 9.90767391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.480281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:96.62, Y:10.43, Z:0.99 [[ 9.65802503e-01 -2.59014049e-01 -1.17153019e-02 9.66152413e+01] [ 2.59000683e-01 9.65873447e-01 -2.67039613e-03 1.04276440e+01] [ 1.20071691e-02 -4.55195932e-04 9.99927808e-01 9.91343427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.540281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:96.68, Y:10.42, Z:0.99 [[ 9.66766715e-01 -2.55391612e-01 -1.17150874e-02 9.66757455e+01] [ 2.55377969e-01 9.66837606e-01 -2.67133663e-03 1.04238828e+01] [ 1.20088241e-02 -4.09215897e-04 9.99927808e-01 9.94149899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.600281693 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:96.74, Y:10.42, Z:0.99 [[ 9.68162738e-01 -2.50047356e-01 -1.17146074e-02 9.67354316e+01] [ 2.50033296e-01 9.68233548e-01 -2.67344029e-03 1.04233092e+01] [ 1.20109625e-02 -3.40716617e-04 9.99927808e-01 9.94682718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.660281693 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:96.79, Y:10.43, Z:0.99 [[ 9.69386009e-01 -2.45262196e-01 -1.17141208e-02 9.67944436e+01] [ 2.45247761e-01 9.69456743e-01 -2.67557043e-03 1.04267624e+01] [ 1.20125497e-02 -2.79201358e-04 9.99927808e-01 9.90139864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.720281693 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:96.85, Y:10.43, Z:0.99 [[ 9.70588879e-01 -2.40457920e-01 -1.17139699e-02 9.68531651e+01] [ 2.40443126e-01 9.70659539e-01 -2.67623097e-03 1.04312108e+01] [ 1.20137976e-02 -2.19023526e-04 9.99927808e-01 9.90977071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.780281693 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:96.91, Y:10.44, Z:0.99 [[ 9.71391887e-01 -2.37193164e-01 -1.17134562e-02 9.69104271e+01] [ 2.37178106e-01 9.71462491e-01 -2.67847768e-03 1.04375673e+01] [ 1.20144999e-02 -1.76323863e-04 9.99927808e-01 9.92018346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.840281693 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:96.97, Y:10.44, Z:0.99 [[ 9.73250160e-01 -2.29449180e-01 -1.17132332e-02 9.69692753e+01] [ 2.29433548e-01 9.73320640e-01 -2.67945253e-03 1.04389669e+01] [ 1.20155298e-02 -7.96310433e-05 9.99927808e-01 9.92962276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.900281693 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:97.03, Y:10.45, Z:0.99 [[ 9.74515431e-01 -2.24014478e-01 -1.17127413e-02 9.70269807e+01] [ 2.23998427e-01 9.74585816e-01 -2.68160073e-03 1.04474411e+01] [ 1.20157890e-02 -1.03743513e-05 9.99927808e-01 9.93868151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.960281693 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:97.08, Y:10.46, Z:1.00 [[ 9.76571954e-01 -2.14872152e-01 -1.17122412e-02 9.70843726e+01] [ 2.14855417e-01 9.76642180e-01 -2.68378360e-03 1.04550990e+01] [ 1.20153391e-02 1.04469337e-04 9.99927808e-01 9.95785718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.020281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:97.14, Y:10.47, Z:1.00 [[ 9.77339418e-01 -2.11353961e-01 -1.17117437e-02 9.71396744e+01] [ 2.11336946e-01 9.77409577e-01 -2.68595251e-03 1.04674211e+01] [ 1.20148572e-02 1.49963102e-04 9.99927808e-01 9.96670258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.080281693 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:97.20, Y:10.48, Z:1.00 [[ 9.75908720e-01 -2.17864662e-01 -1.17115276e-02 9.71968203e+01] [ 2.17848105e-01 9.75978987e-01 -2.68689438e-03 1.04804284e+01] [ 1.20155842e-02 7.08295549e-05 9.99927808e-01 1.00317411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.140281693 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:97.25, Y:10.49, Z:1.00 [[ 9.74110974e-01 -2.25766827e-01 -1.17110856e-02 9.72537196e+01] [ 2.25750816e-01 9.74181369e-01 -2.68881971e-03 1.04934926e+01] [ 1.20157677e-02 -2.45783411e-05 9.99927808e-01 1.00370231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20028169300001 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:97.31, Y:10.50, Z:1.00 [[ 9.72109264e-01 -2.34235868e-01 -1.17105721e-02 9.73097307e+01] [ 2.34220443e-01 9.72179789e-01 -2.69105450e-03 1.05048379e+01] [ 1.20151230e-02 -1.26856366e-04 9.99927808e-01 1.00143609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.260281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:97.37, Y:10.52, Z:1.00 [[ 9.71731182e-01 -2.35799445e-01 -1.17103514e-02 9.73666047e+01] [ 2.35784123e-01 9.71801729e-01 -2.69201423e-03 1.05156576e+01] [ 1.20149152e-02 -1.45200769e-04 9.99927808e-01 1.00212682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.320281693 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:97.42, Y:10.53, Z:1.00 [[ 9.72080296e-01 -2.34356093e-01 -1.17098454e-02 9.74225097e+01] [ 2.34340639e-01 9.72150814e-01 -2.69421355e-03 1.05293387e+01] [ 1.20151411e-02 -1.25100758e-04 9.99927808e-01 1.00035410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.380281693 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:97.48, Y:10.54, Z:1.01 [[ 9.71989210e-01 -2.34733608e-01 -1.17093403e-02 9.74792045e+01] [ 2.34718155e-01 9.72059729e-01 -2.69640687e-03 1.05429776e+01] [ 1.20151155e-02 -1.27516382e-04 9.99927808e-01 1.00583877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.440281693 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:97.54, Y:10.56, Z:1.00 [[ 9.71464025e-01 -2.36897762e-01 -1.17089001e-02 9.75364071e+01] [ 2.36882443e-01 9.71534573e-01 -2.69831698e-03 1.05552504e+01] [ 1.20148266e-02 -1.52314992e-04 9.99927808e-01 1.00403702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.500281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:97.59, Y:10.57, Z:1.00 [[ 9.70795815e-01 -2.39621365e-01 -1.17084260e-02 9.75938134e+01] [ 2.39606219e-01 9.70866401e-01 -2.70037265e-03 1.05658372e+01] [ 1.20143844e-02 -1.83901224e-04 9.99927808e-01 1.00038925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56028169300001 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:97.65, Y:10.58, Z:1.01 [[ 9.71284904e-01 -2.37631126e-01 -1.17082705e-02 9.76514452e+01] [ 2.37615828e-01 9.71355456e-01 -2.70104681e-03 1.05758803e+01] [ 1.20147452e-02 -1.58584402e-04 9.99927808e-01 1.00535306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.620281693 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:97.71, Y:10.59, Z:1.01 [[ 9.71658588e-01 -2.36098528e-01 -1.17078419e-02 9.77083712e+01] [ 2.36083096e-01 9.71729111e-01 -2.70290358e-03 1.05872129e+01] [ 1.20150023e-02 -1.37724073e-04 9.99927808e-01 1.00629705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.680281693 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:97.77, Y:10.59, Z:1.00 [[ 9.71660431e-01 -2.36090967e-01 -1.17073453e-02 9.77650425e+01] [ 2.36075508e-01 9.71730949e-01 -2.70505268e-03 1.05945436e+01] [ 1.20150282e-02 -1.35424842e-04 9.99927808e-01 1.00316512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.740281693 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:97.82, Y:10.60, Z:1.01 [[ 9.71662397e-01 -2.36082893e-01 -1.17070089e-02 9.78226505e+01] [ 2.36067417e-01 9.71732911e-01 -2.70650795e-03 1.06009376e+01] [ 1.20150460e-02 -1.33831337e-04 9.99927808e-01 1.00547877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.800281693 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:97.88, Y:10.61, Z:1.01 [[ 9.72114364e-01 -2.34214905e-01 -1.17065132e-02 9.78809748e+01] [ 2.34199267e-01 9.72184842e-01 -2.70865022e-03 1.06089733e+01] [ 1.20153009e-02 -1.08539017e-04 9.99927808e-01 1.01213840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.860281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:97.94, Y:10.62, Z:1.02 [[ 9.72843246e-01 -2.31168742e-01 -1.17060762e-02 9.79371576e+01] [ 2.31152860e-01 9.72913669e-01 -2.71053721e-03 1.06177004e+01] [ 1.20155931e-02 -6.89651937e-05 9.99927808e-01 1.01509873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.920281693 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:97.99, Y:10.63, Z:1.02 [[ 9.73896532e-01 -2.26690355e-01 -1.17058607e-02 9.79943282e+01] [ 2.26674138e-01 9.73966880e-01 -2.71146775e-03 1.06272522e+01] [ 1.20157842e-02 -1.27268437e-05 9.99927808e-01 1.01566036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.980281693 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:98.05, Y:10.64, Z:1.01 [[ 9.74990718e-01 -2.21937119e-01 -1.17053651e-02 9.80504708e+01] [ 2.21920534e-01 9.75060979e-01 -2.71360559e-03 1.06400890e+01] [ 1.20156946e-02 4.80793883e-05 9.99927808e-01 1.01195168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.040281693 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:98.11, Y:10.65, Z:1.01 [[ 9.75777193e-01 -2.18453349e-01 -1.17048546e-02 9.81075293e+01] [ 2.18436487e-01 9.75847389e-01 -2.71580594e-03 1.06527298e+01] [ 1.20154287e-02 9.32541907e-05 9.99927808e-01 1.01173822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.100281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:98.16, Y:10.67, Z:1.02 [[ 9.76702962e-01 -2.14276300e-01 -1.17043434e-02 9.81630247e+01] [ 2.14259111e-01 9.76773078e-01 -2.71800692e-03 1.06691080e+01] [ 1.20148920e-02 1.46923189e-04 9.99927808e-01 1.01555702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.160281693 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:98.22, Y:10.68, Z:1.01 [[ 9.77396083e-01 -2.11092201e-01 -1.17038135e-02 9.82181255e+01] [ 2.11074756e-01 9.77466136e-01 -2.72028689e-03 1.06844909e+01] [ 1.20143127e-02 1.88418167e-04 9.99927808e-01 1.01398763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.220281693 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:98.27, Y:10.71, Z:1.01 [[ 9.77989619e-01 -2.08325070e-01 -1.17034546e-02 9.82726006e+01] [ 2.08307409e-01 9.78059617e-01 -2.72183014e-03 1.07055358e+01] [ 1.20137018e-02 2.24005313e-04 9.99927808e-01 1.01046469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.280281693 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:98.33, Y:10.72, Z:1.01 [[ 9.78017403e-01 -2.08194621e-01 -1.17029577e-02 9.83291347e+01] [ 2.08176925e-01 9.78087393e-01 -2.72396480e-03 1.07225719e+01] [ 1.20136302e-02 2.27799226e-04 9.99927808e-01 1.01485589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.340281693 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:98.38, Y:10.74, Z:1.02 [[ 9.77615315e-01 -2.10074624e-01 -1.17025044e-02 9.83844756e+01] [ 2.10057039e-01 9.77685333e-01 -2.72591084e-03 1.07410900e+01] [ 1.20140116e-02 2.06698744e-04 9.99927808e-01 1.01833563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.400281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:98.44, Y:10.76, Z:1.02 [[ 9.77102391e-01 -2.12447598e-01 -1.17019719e-02 9.84393525e+01] [ 2.12430156e-01 9.77172444e-01 -2.72819508e-03 1.07563412e+01] [ 1.20144430e-02 1.79874223e-04 9.99927808e-01 1.01671640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.460281693 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:98.50, Y:10.77, Z:1.02 [[ 9.76409488e-01 -2.15609790e-01 -1.17017423e-02 9.84955793e+01] [ 2.15592563e-01 9.76479595e-01 -2.72917971e-03 1.07718736e+01] [ 1.20149504e-02 1.41988363e-04 9.99927808e-01 1.01575432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.520281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:98.55, Y:10.79, Z:1.02 [[ 9.75576622e-01 -2.19347524e-01 -1.17012282e-02 9.85511956e+01] [ 2.19330539e-01 9.75646788e-01 -2.73138208e-03 1.07885646e+01] [ 1.20153876e-02 9.82358238e-05 9.99927808e-01 1.01783007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.580281693 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:98.61, Y:10.81, Z:1.02 [[ 9.74787443e-01 -2.22828485e-01 -1.17007216e-02 9.86072980e+01] [ 2.22811725e-01 9.74857663e-01 -2.73355017e-03 1.08052160e+01] [ 1.20156510e-02 5.75724061e-05 9.99927808e-01 1.01711162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.640281693 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:98.66, Y:10.82, Z:1.02 [[ 9.73643216e-01 -2.27776193e-01 -1.17002038e-02 9.86636141e+01] [ 2.27759763e-01 9.73713513e-01 -2.73576482e-03 1.08210208e+01] [ 1.20157887e-02 -1.17678652e-06 9.99927808e-01 1.01807161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70028169300001 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:98.72, Y:10.83, Z:1.02 [[ 9.72568789e-01 -2.32321044e-01 -1.16996905e-02 9.87203209e+01] [ 2.32304916e-01 9.72639157e-01 -2.73795830e-03 1.08337258e+01] [ 1.20156624e-02 -5.50428345e-05 9.99927808e-01 1.01988906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.760281693 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:98.78, Y:10.84, Z:1.03 [[ 9.71589538e-01 -2.36382951e-01 -1.16991757e-02 9.87759091e+01] [ 2.36367091e-01 9.71659966e-01 -2.74015633e-03 1.08447049e+01] [ 1.20153469e-02 -1.02992892e-04 9.99927808e-01 1.02511701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.820281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:98.83, Y:10.86, Z:1.02 [[ 9.72030639e-01 -2.34562512e-01 -1.16989537e-02 9.88327082e+01] [ 2.34546508e-01 9.72101035e-01 -2.74110385e-03 1.08562204e+01] [ 1.20155252e-02 -7.95118089e-05 9.99927808e-01 1.02378372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.880281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:98.89, Y:10.87, Z:1.02 [[ 9.73420591e-01 -2.28725818e-01 -1.16984584e-02 9.88887370e+01] [ 2.28709367e-01 9.73490883e-01 -2.74321614e-03 1.08686268e+01] [ 1.20157869e-02 -5.24393302e-06 9.99927808e-01 1.02290591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.940281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:98.94, Y:10.88, Z:1.02 [[ 9.75312394e-01 -2.20519578e-01 -1.16982440e-02 9.89447831e+01] [ 2.20502525e-01 9.75382544e-01 -2.74412998e-03 1.08844182e+01] [ 1.20153974e-02 9.68916421e-05 9.99927808e-01 1.02193451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.000281693 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:99.00, Y:10.90, Z:1.03 [[ 9.76297035e-01 -2.16118631e-01 -1.16977585e-02 9.90002699e+01] [ 2.16101237e-01 9.76367100e-01 -2.74619790e-03 1.09000480e+01] [ 1.20148111e-02 1.53204778e-04 9.99927808e-01 1.02582178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06028169300001 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:99.06, Y:10.91, Z:1.03 [[ 9.75952677e-01 -2.17668429e-01 -1.16972754e-02 9.90559506e+01] [ 2.17651122e-01 9.76022764e-01 -2.74825436e-03 1.09110466e+01] [ 1.20150152e-02 1.36241097e-04 9.99927808e-01 1.02702871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.120281693 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:99.11, Y:10.92, Z:1.02 [[ 9.75804497e-01 -2.18331772e-01 -1.16970658e-02 9.91132791e+01] [ 2.18314502e-01 9.75874593e-01 -2.74914606e-03 1.09220072e+01] [ 1.20150952e-02 1.28990002e-04 9.99927808e-01 1.02482467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.180281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:99.17, Y:10.94, Z:1.03 [[ 9.76681426e-01 -2.14374864e-01 -1.16965877e-02 9.91689130e+01] [ 2.14357285e-01 9.76751445e-01 -2.75117852e-03 1.09381004e+01] [ 1.20144425e-02 1.79776167e-04 9.99927808e-01 1.02592326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.240281693 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:99.22, Y:10.96, Z:1.03 [[ 9.78091225e-01 -2.07847920e-01 -1.16960755e-02 9.92240064e+01] [ 2.07829847e-01 9.78161118e-01 -2.75335450e-03 1.09567193e+01] [ 1.20129253e-02 2.62238294e-04 9.99927808e-01 1.02748323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.300281693 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:99.28, Y:10.98, Z:1.03 [[ 9.78436749e-01 -2.06215281e-01 -1.16955575e-02 9.92780969e+01] [ 2.06197066e-01 9.78506605e-01 -2.75555311e-03 1.09782654e+01] [ 1.20124174e-02 2.84544783e-04 9.99927808e-01 1.02806189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.360281693 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:99.33, Y:11.00, Z:1.03 [[ 9.78056024e-01 -2.08013559e-01 -1.16950427e-02 9.93322160e+01] [ 2.07995446e-01 9.78125907e-01 -2.75773594e-03 1.09968864e+01] [ 1.20128708e-02 2.64704619e-04 9.99927808e-01 1.02967991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.420281693 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:99.39, Y:11.02, Z:1.03 [[ 9.77235949e-01 -2.11832789e-01 -1.16948195e-02 9.93857006e+01] [ 2.11814938e-01 9.77305900e-01 -2.75868254e-03 1.10179685e+01] [ 1.20137955e-02 2.18746291e-04 9.99927808e-01 1.03222541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.480281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:99.44, Y:11.04, Z:1.03 [[ 9.76184121e-01 -2.16628250e-01 -1.16945986e-02 9.94403729e+01] [ 2.16610732e-01 9.76254155e-01 -2.75961844e-03 1.10369855e+01] [ 1.20147118e-02 1.60720140e-04 9.99927808e-01 1.02597379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.540281693 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:99.50, Y:11.05, Z:1.03 [[ 9.75088068e-01 -2.21509608e-01 -1.16941088e-02 9.94961658e+01] [ 2.21492416e-01 9.75158183e-01 -2.76169239e-03 1.10544186e+01] [ 1.20153473e-02 1.02736888e-04 9.99927808e-01 1.03015193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.600281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:99.55, Y:11.07, Z:1.03 [[ 9.74055477e-01 -2.26007054e-01 -1.16935769e-02 9.95505510e+01] [ 2.25990158e-01 9.74125664e-01 -2.76394277e-03 1.10718281e+01] [ 1.20156839e-02 4.96002981e-05 9.99927808e-01 1.03318045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.660281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:99.61, Y:11.09, Z:1.03 [[ 9.73616187e-01 -2.27892057e-01 -1.16932179e-02 9.96057298e+01] [ 2.27875279e-01 9.73686402e-01 -2.76546067e-03 1.10885885e+01] [ 1.20157538e-02 2.79019695e-05 9.99927808e-01 1.03303862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.720281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:99.66, Y:11.11, Z:1.03 [[ 9.73009952e-01 -2.30466731e-01 -1.16927104e-02 9.96612548e+01] [ 2.30450113e-01 9.73080205e-01 -2.76760485e-03 1.11066555e+01] [ 1.20157859e-02 -1.67937497e-06 9.99927808e-01 1.03221450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.780281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:99.72, Y:11.12, Z:1.03 [[ 9.71606239e-01 -2.36314639e-01 -1.16922060e-02 9.97178073e+01] [ 2.36298418e-01 9.71676585e-01 -2.76973437e-03 1.11206098e+01] [ 1.20155715e-02 -7.17585848e-05 9.99927808e-01 1.03132582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.840281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:99.77, Y:11.13, Z:1.04 [[ 9.70719226e-01 -2.39932258e-01 -1.16916776e-02 9.97745481e+01] [ 2.39916273e-01 9.70789626e-01 -2.77196298e-03 1.11335945e+01] [ 1.20152426e-02 -1.14225945e-04 9.99927808e-01 1.03678026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.900281693 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:99.83, Y:11.14, Z:1.04 [[ 9.70660316e-01 -2.40170480e-01 -1.16915151e-02 9.98309460e+01] [ 2.40154503e-01 9.70730718e-01 -2.77264804e-03 1.11436218e+01] [ 1.20152211e-02 -1.16470581e-04 9.99927808e-01 1.03660630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.960281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:99.89, Y:11.16, Z:1.04 [[ 9.70757813e-01 -2.39776109e-01 -1.16912968e-02 9.98881975e+01] [ 2.39760093e-01 9.70828206e-01 -2.77356834e-03 1.11552303e+01] [ 1.20152761e-02 -1.10643271e-04 9.99927808e-01 1.03774409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.020281693 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:99.95, Y:11.16, Z:1.03 [[ 9.70641900e-01 -2.40244931e-01 -1.16907901e-02 9.99463674e+01] [ 2.40228923e-01 9.70712295e-01 -2.77570249e-03 1.11631288e+01] [ 1.20152421e-02 -1.14252777e-04 9.99927808e-01 1.03188241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.080281693 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:100.00, Y:11.17, Z:1.03 [[ 9.70126242e-01 -2.42318823e-01 -1.16902787e-02 1.00003568e+02] [ 2.42302940e-01 9.70196665e-01 -2.77785445e-03 1.11671558e+01] [ 1.20149959e-02 -1.37719405e-04 9.99927808e-01 1.03230536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.140281693 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:100.06, Y:11.18, Z:1.04 [[ 9.70109590e-01 -2.42385489e-01 -1.16900566e-02 1.00061068e+02] [ 2.42369599e-01 9.70180012e-01 -2.77878911e-03 1.11754238e+01] [ 1.20149974e-02 -1.37584355e-04 9.99927808e-01 1.03620929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20028169300001 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:100.12, Y:11.18, Z:1.04 [[ 9.71153535e-01 -2.38168356e-01 -1.16895244e-02 1.00118491e+02] [ 2.38152133e-01 9.71223881e-01 -2.78102600e-03 1.11812914e+01] [ 1.20154976e-02 -8.30819349e-05 9.99927808e-01 1.03528949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.260281693 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:100.18, Y:11.19, Z:1.04 [[ 9.71957374e-01 -2.34866401e-01 -1.16891635e-02 1.00175087e+02] [ 2.34849921e-01 9.72027660e-01 -2.78254212e-03 1.11873798e+01] [ 1.20157159e-02 -4.06867915e-05 9.99927808e-01 1.03935645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.320281693 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:100.23, Y:11.20, Z:1.04 [[ 9.72115064e-01 -2.34212875e-01 -1.16889395e-02 1.00230657e+02] [ 2.34196336e-01 9.72185336e-01 -2.78348274e-03 1.11987426e+01] [ 1.20157431e-02 -3.16412962e-05 9.99927808e-01 1.04197108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.380281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:100.29, Y:11.21, Z:1.04 [[ 9.72267960e-01 -2.33577369e-01 -1.16887191e-02 1.00288367e+02] [ 2.33560774e-01 9.72338219e-01 -2.78440792e-03 1.12079931e+01] [ 1.20157630e-02 -2.28356755e-05 9.99927808e-01 1.03525515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.440281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:100.35, Y:11.22, Z:1.03 [[ 9.72273128e-01 -2.33555884e-01 -1.16881924e-02 1.00345544e+02] [ 2.33539260e-01 9.72343380e-01 -2.78661703e-03 1.12177115e+01] [ 1.20157673e-02 -2.02989497e-05 9.99927808e-01 1.03401240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.500281693 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:100.40, Y:11.23, Z:1.04 [[ 9.72347055e-01 -2.33247942e-01 -1.16876657e-02 1.00404072e+02] [ 2.33231269e-01 9.72417296e-01 -2.78882443e-03 1.12260714e+01] [ 1.20157758e-02 -1.42238900e-05 9.99927808e-01 1.03929085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56028169300001 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:100.46, Y:11.23, Z:1.04 [[ 9.71606462e-01 -2.36313970e-01 -1.16872059e-02 1.00461762e+02] [ 2.36297496e-01 9.71676749e-01 -2.79074986e-03 1.12328993e+01] [ 1.20156795e-02 -5.01469068e-05 9.99927808e-01 1.03593985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.620281693 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:100.52, Y:11.24, Z:1.04 [[ 9.70612852e-01 -2.40362461e-01 -1.16866725e-02 1.00519257e+02] [ 2.40346253e-01 9.70683202e-01 -2.79298212e-03 1.12366178e+01] [ 1.20153847e-02 -9.79435969e-05 9.99927808e-01 1.03597327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.680281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:100.58, Y:11.24, Z:1.04 [[ 9.70277672e-01 -2.41711956e-01 -1.16863097e-02 1.00577318e+02] [ 2.41695828e-01 9.70348039e-01 -2.79449912e-03 1.12435748e+01] [ 1.20152516e-02 -1.13092202e-04 9.99927808e-01 1.04070402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.740281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:100.63, Y:11.25, Z:1.04 [[ 9.69509545e-01 -2.44774763e-01 -1.16857989e-02 1.00634993e+02] [ 2.44758831e-01 9.69579957e-01 -2.79663338e-03 1.12462923e+01] [ 1.20148617e-02 -1.48839740e-04 9.99927808e-01 1.03828888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.800281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:100.69, Y:11.25, Z:1.04 [[ 9.68569931e-01 -2.48466770e-01 -1.16855782e-02 1.00693015e+02] [ 2.48451096e-01 9.68640401e-01 -2.79755560e-03 1.12509593e+01] [ 1.20142227e-02 -1.93666456e-04 9.99927808e-01 1.04111501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.860281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:100.75, Y:11.25, Z:1.04 [[ 9.67662202e-01 -2.51978812e-01 -1.16850684e-02 1.00752324e+02] [ 2.51963367e-01 9.67732723e-01 -2.79968314e-03 1.12516116e+01] [ 1.20134839e-02 -2.35061631e-04 9.99927808e-01 1.04056189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.920281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:100.81, Y:11.25, Z:1.04 [[ 9.68059321e-01 -2.50448843e-01 -1.16845589e-02 1.00811232e+02] [ 2.50433262e-01 9.68129811e-01 -2.80180791e-03 1.12545401e+01] [ 1.20138794e-02 -2.13885938e-04 9.99927808e-01 1.04416942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.980281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:100.87, Y:11.26, Z:1.05 [[ 9.69084736e-01 -2.46451328e-01 -1.16840533e-02 1.00868773e+02] [ 2.46435430e-01 9.69155156e-01 -2.80391478e-03 1.12568156e+01] [ 1.20146890e-02 -1.62133691e-04 9.99927808e-01 1.04672559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.040281693 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:100.93, Y:11.26, Z:1.05 [[ 9.69761471e-01 -2.43774851e-01 -1.16838343e-02 1.00926991e+02] [ 2.43758748e-01 9.69831844e-01 -2.80482720e-03 1.12625437e+01] [ 1.20151009e-02 -1.28023465e-04 9.99927808e-01 1.04653999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.100281693 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:100.98, Y:11.26, Z:1.05 [[ 9.70473547e-01 -2.40924457e-01 -1.16833337e-02 1.00984545e+02] [ 2.40908123e-01 9.70543867e-01 -2.80691094e-03 1.12648888e+01] [ 1.20154413e-02 -9.05771596e-05 9.99927808e-01 1.04975682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.160281693 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:101.04, Y:11.27, Z:1.05 [[ 9.71075356e-01 -2.38487230e-01 -1.16831165e-02 1.01043223e+02] [ 2.38470708e-01 9.71145632e-01 -2.80781460e-03 1.12703588e+01] [ 1.20156355e-02 -5.94814989e-05 9.99927808e-01 1.05267049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.220281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:101.10, Y:11.28, Z:1.05 [[ 9.71684783e-01 -2.35991948e-01 -1.16826258e-02 1.01100514e+02] [ 2.35975221e-01 9.71755010e-01 -2.80985478e-03 1.12794673e+01] [ 1.20157532e-02 -2.65170642e-05 9.99927808e-01 1.05453529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.280281693 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:101.16, Y:11.29, Z:1.05 [[ 9.73113583e-01 -2.30029309e-01 -1.16820929e-02 1.01157911e+02] [ 2.30012125e-01 9.73183700e-01 -2.81206874e-03 1.12890675e+01] [ 1.20156806e-02 4.94392845e-05 9.99927808e-01 1.05266580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.340281693 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:101.21, Y:11.30, Z:1.05 [[ 9.74550852e-01 -2.23861961e-01 -1.16815521e-02 1.01212826e+02] [ 2.23844307e-01 9.74620852e-01 -2.81431344e-03 1.13042496e+01] [ 1.20151020e-02 1.27842639e-04 9.99927808e-01 1.05372295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.400281693 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:101.27, Y:11.32, Z:1.05 [[ 9.75815066e-01 -2.18285371e-01 -1.16813170e-02 1.01267579e+02] [ 2.18267305e-01 9.75884961e-01 -2.81528884e-03 1.13228668e+01] [ 1.20141579e-02 1.97551686e-04 9.99927808e-01 1.05417055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.460281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:101.32, Y:11.34, Z:1.05 [[ 9.76314774e-01 -2.16039396e-01 -1.16807903e-02 1.01323156e+02] [ 2.16021143e-01 9.76384621e-01 -2.81747255e-03 1.13419466e+01] [ 1.20136290e-02 2.27442410e-04 9.99927808e-01 1.05246092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.520281693 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:101.38, Y:11.36, Z:1.05 [[ 9.76279447e-01 -2.16199013e-01 -1.16802625e-02 1.01378967e+02] [ 2.16180745e-01 9.76349289e-01 -2.81965883e-03 1.13598135e+01] [ 1.20136234e-02 2.27727116e-04 9.99927808e-01 1.05140351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.580281693 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:101.43, Y:11.38, Z:1.05 [[ 9.76098054e-01 -2.17016525e-01 -1.16797355e-02 1.01432207e+02] [ 2.16998290e-01 9.76167905e-01 -2.82184004e-03 1.13821635e+01] [ 1.20137689e-02 2.19909942e-04 9.99927808e-01 1.05473654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.640281693 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:101.49, Y:11.40, Z:1.06 [[ 9.76107267e-01 -2.16975097e-01 -1.16795073e-02 1.01486189e+02] [ 2.16956847e-01 9.76177114e-01 -2.82278405e-03 1.14042230e+01] [ 1.20137416e-02 2.21390931e-04 9.99927808e-01 1.05501935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70028169300001 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:101.54, Y:11.43, Z:1.06 [[ 9.75539912e-01 -2.19511917e-01 -1.16789831e-02 1.01539809e+02] [ 2.19493823e-01 9.75609800e-01 -2.82495159e-03 1.14254499e+01] [ 1.20142409e-02 1.92388389e-04 9.99927808e-01 1.06160798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.760281693 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:101.60, Y:11.44, Z:1.07 [[ 9.74862123e-01 -2.22502691e-01 -1.16787566e-02 1.01596773e+02] [ 2.22484800e-01 9.74932063e-01 -2.82588754e-03 1.14411032e+01] [ 1.20147618e-02 1.56504898e-04 9.99927808e-01 1.06735002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.820281693 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:101.65, Y:11.46, Z:1.06 [[ 9.73144442e-01 -2.29898916e-01 -1.16782998e-02 1.01651732e+02] [ 2.29881535e-01 9.73214511e-01 -2.82777391e-03 1.14598366e+01] [ 1.20155930e-02 6.72069845e-05 9.99927808e-01 1.06175908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.880281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:101.71, Y:11.48, Z:1.06 [[ 9.71176663e-01 -2.38074595e-01 -1.16780576e-02 1.01705771e+02] [ 2.38057791e-01 9.71246872e-01 -2.82877379e-03 1.14777278e+01] [ 1.20157361e-02 -3.28135132e-05 9.99927808e-01 1.05505046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.940281693 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:101.76, Y:11.49, Z:1.06 [[ 9.69577675e-01 -2.44505134e-01 -1.16778344e-02 1.01761318e+02] [ 2.44488784e-01 9.69647991e-01 -2.82969516e-03 1.14943334e+01] [ 1.20152636e-02 -1.11490269e-04 9.99927808e-01 1.05775155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.000281693 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:101.82, Y:11.51, Z:1.06 [[ 9.68741262e-01 -2.47798319e-01 -1.16773017e-02 1.01816536e+02] [ 2.47782182e-01 9.68811628e-01 -2.83189158e-03 1.15102244e+01] [ 1.20148436e-02 -1.50057073e-04 9.99927808e-01 1.06142587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06028169300001 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:101.87, Y:11.53, Z:1.06 [[ 9.67255755e-01 -2.53534909e-01 -1.16770722e-02 1.01871790e+02] [ 2.53519178e-01 9.67326212e-01 -2.83283758e-03 1.15268444e+01] [ 1.20137612e-02 -2.20283296e-04 9.99927808e-01 1.06209492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.120281693 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:101.93, Y:11.54, Z:1.06 [[ 9.66516393e-01 -2.56339072e-01 -1.16765503e-02 1.01927489e+02] [ 2.56323520e-01 9.66586890e-01 -2.83498702e-03 1.15392587e+01] [ 1.20131184e-02 -2.52913047e-04 9.99927808e-01 1.06053031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.180281693 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:101.98, Y:11.55, Z:1.06 [[ 9.65971836e-01 -2.58383583e-01 -1.16763250e-02 1.01984201e+02] [ 2.58368168e-01 9.66042363e-01 -2.83591497e-03 1.15524029e+01] [ 1.20125784e-02 -2.77376701e-04 9.99927808e-01 1.06357247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.240281693 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:102.04, Y:11.56, Z:1.07 [[ 9.65488933e-01 -2.60182236e-01 -1.16757951e-02 1.02040606e+02] [ 2.60166927e-01 9.65559483e-01 -2.83809493e-03 1.15618160e+01] [ 1.20120965e-02 -2.97506476e-04 9.99927808e-01 1.06874103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.300281693 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:102.10, Y:11.57, Z:1.07 [[ 9.64923185e-01 -2.62272621e-01 -1.16755662e-02 1.02098168e+02] [ 2.62257453e-01 9.64993766e-01 -2.83903613e-03 1.15679418e+01] [ 1.20114500e-02 -3.22552470e-04 9.99927808e-01 1.07032085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.360281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:102.16, Y:11.57, Z:1.06 [[ 9.65232199e-01 -2.61133087e-01 -1.16753415e-02 1.02157500e+02] [ 2.61117825e-01 9.65302759e-01 -2.83995994e-03 1.15700975e+01] [ 1.20118469e-02 -3.07418995e-04 9.99927808e-01 1.06484898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.420281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:102.22, Y:11.57, Z:1.07 [[ 9.65660929e-01 -2.59543193e-01 -1.16748409e-02 1.02216733e+02] [ 2.59527789e-01 9.65731458e-01 -2.84201623e-03 1.15729196e+01] [ 1.20123871e-02 -2.85521625e-04 9.99927808e-01 1.06517341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.480281693 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:102.28, Y:11.58, Z:1.06 [[ 9.66648697e-01 -2.55839806e-01 -1.16743375e-02 1.02275209e+02] [ 2.55824108e-01 9.66719161e-01 -2.84408253e-03 1.15789062e+01] [ 1.20134353e-02 -2.37348309e-04 9.99927808e-01 1.06333534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.540281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:102.33, Y:11.58, Z:1.07 [[ 9.69800952e-01 -2.43618216e-01 -1.16738035e-02 1.02333077e+02] [ 2.43601602e-01 9.69871207e-01 -2.84627276e-03 1.15844384e+01] [ 1.20154898e-02 -8.34392133e-05 9.99927808e-01 1.06793759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.600281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:102.39, Y:11.60, Z:1.07 [[ 9.72524212e-01 -2.32508907e-01 -1.16732647e-02 1.02389419e+02] [ 2.32491465e-01 9.72594265e-01 -2.84848105e-03 1.15950321e+01] [ 1.20156475e-02 5.62823856e-05 9.99927808e-01 1.06881908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.660281693 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:102.45, Y:11.61, Z:1.07 [[ 9.76299856e-01 -2.16107228e-01 -1.16728959e-02 1.02446218e+02] [ 2.16088591e-01 9.76369601e-01 -2.84999135e-03 1.16083138e+01] [ 1.20129645e-02 2.60066511e-04 9.99927808e-01 1.06671559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.720281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:102.50, Y:11.63, Z:1.07 [[ 9.78378649e-01 -2.06492069e-01 -1.16724010e-02 1.02501582e+02] [ 2.06472722e-01 9.78448200e-01 -2.85201685e-03 1.16255816e+01] [ 1.20097586e-02 3.80319985e-04 9.99927808e-01 1.06777751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.780281693 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:102.55, Y:11.65, Z:1.07 [[ 9.80655937e-01 -1.95391148e-01 -1.16718646e-02 1.02554738e+02] [ 1.95370989e-01 9.80725257e-01 -2.85421028e-03 1.16486655e+01] [ 1.20045799e-02 5.18654529e-04 9.99927808e-01 1.06652545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.840281693 meters Centerline goodness : 0.999534 with order 1 Centerline is valid? [True, True] Translation: X:102.61, Y:11.67, Z:1.07 [[ 9.81711604e-01 -1.90016049e-01 -1.16716346e-02 1.02607481e+02] [ 1.89995499e-01 9.81780810e-01 -2.85515060e-03 1.16721296e+01] [ 1.20015113e-02 5.85376437e-04 9.99927808e-01 1.06885198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.900281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:102.66, Y:11.70, Z:1.07 [[ 9.81713039e-01 -1.90008647e-01 -1.16714280e-02 1.02661618e+02] [ 1.89988086e-01 9.81782242e-01 -2.85599491e-03 1.16960035e+01] [ 1.20014645e-02 5.86335170e-04 9.99927808e-01 1.06670969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.960281693 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:102.72, Y:11.72, Z:1.07 [[ 9.81520337e-01 -1.91001613e-01 -1.16709561e-02 1.02715879e+02] [ 1.90981100e-01 9.81589554e-01 -2.85792189e-03 1.17168618e+01] [ 1.20019563e-02 5.76176425e-04 9.99927808e-01 1.07007290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.020281693 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:102.77, Y:11.74, Z:1.07 [[ 9.80746292e-01 -1.94937199e-01 -1.16704432e-02 1.02769376e+02] [ 1.94916938e-01 9.80815583e-01 -2.86001502e-03 1.17384577e+01] [ 1.20040758e-02 5.30182069e-04 9.99927808e-01 1.07011356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.080281693 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:102.82, Y:11.76, Z:1.07 [[ 9.79426980e-01 -2.01461157e-01 -1.16702211e-02 1.02823721e+02] [ 2.01441347e-01 9.79496401e-01 -2.86092097e-03 1.17584030e+01] [ 1.20073040e-02 4.51198122e-04 9.99927808e-01 1.06997957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.140281693 meters Centerline goodness : 0.999532 with order 1 Centerline is valid? [True, True] Translation: X:102.88, Y:11.78, Z:1.07 [[ 9.78335788e-01 -2.06695194e-01 -1.16697065e-02 1.02877480e+02] [ 2.06675731e-01 9.78405307e-01 -2.86301836e-03 1.17793386e+01] [ 1.20094749e-02 3.89148195e-04 9.99927808e-01 1.07440166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20028169300001 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:102.93, Y:11.80, Z:1.07 [[ 9.77747516e-01 -2.09460301e-01 -1.16694839e-02 1.02931904e+02] [ 2.09441024e-01 9.77817087e-01 -2.86392555e-03 1.17994034e+01] [ 1.20104994e-02 3.56127440e-04 9.99927808e-01 1.07456966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.260281693 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:102.99, Y:11.82, Z:1.07 [[ 9.76924617e-01 -2.13265394e-01 -1.16689465e-02 1.02986608e+02] [ 2.13246362e-01 9.76994255e-01 -2.86611326e-03 1.18198651e+01] [ 1.20117365e-02 3.11616206e-04 9.99927808e-01 1.06883840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.320281693 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:103.04, Y:11.84, Z:1.07 [[ 9.76223235e-01 -2.16453327e-01 -1.16684121e-02 1.03041774e+02] [ 2.16434497e-01 9.76292928e-01 -2.86828725e-03 1.18390086e+01] [ 1.20126386e-02 2.74641758e-04 9.99927808e-01 1.07143944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.380281693 meters Centerline goodness : 0.999514 with order 1 Centerline is valid? [True, True] Translation: X:103.10, Y:11.86, Z:1.08 [[ 9.74850156e-01 -2.22555666e-01 -1.16682463e-02 1.03096896e+02] [ 2.22537264e-01 9.74919964e-01 -2.86896166e-03 1.18587456e+01] [ 1.20141099e-02 2.00188119e-04 9.99927808e-01 1.07628941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.440281693 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:103.15, Y:11.88, Z:1.07 [[ 9.73578329e-01 -2.28055042e-01 -1.16677094e-02 1.03151762e+02] [ 2.28037007e-01 9.73648232e-01 -2.87114364e-03 1.18762121e+01] [ 1.20150234e-02 1.34613700e-04 9.99927808e-01 1.07386675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.500281693 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:103.21, Y:11.89, Z:1.08 [[ 9.72581016e-01 -2.32271472e-01 -1.16674768e-02 1.03207267e+02] [ 2.32253730e-01 9.72650994e-01 -2.87208860e-03 1.18911571e+01] [ 1.20154871e-02 8.35238590e-05 9.99927808e-01 1.07521984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56028169300001 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:103.26, Y:11.91, Z:1.08 [[ 9.72007129e-01 -2.34661509e-01 -1.16669364e-02 1.03263288e+02] [ 2.34643912e-01 9.72077144e-01 -2.87428183e-03 1.19078882e+01] [ 1.20156456e-02 5.62468264e-05 9.99927808e-01 1.07726866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.620281693 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:103.32, Y:11.92, Z:1.08 [[ 9.71106480e-01 -2.38361279e-01 -1.16663915e-02 1.03318398e+02] [ 2.38343922e-01 9.71176555e-01 -2.87649208e-03 1.19232535e+01] [ 1.20157702e-02 1.27665977e-05 9.99927808e-01 1.07526471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.680281693 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:103.37, Y:11.94, Z:1.08 [[ 9.69990278e-01 -2.42863667e-01 -1.16661567e-02 1.03374666e+02] [ 2.42846624e-01 9.70060430e-01 -2.87744393e-03 1.19377049e+01] [ 1.20157036e-02 -4.19941342e-05 9.99927808e-01 1.07736458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.740281693 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:103.43, Y:11.95, Z:1.08 [[ 9.68468586e-01 -2.48862437e-01 -1.16656016e-02 1.03431498e+02] [ 2.48845801e-01 9.68538835e-01 -2.87969268e-03 1.19489706e+01] [ 1.20152355e-02 -1.14044077e-04 9.99927808e-01 1.08043535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.800281693 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:103.49, Y:11.96, Z:1.08 [[ 9.68302555e-01 -2.49507691e-01 -1.16650511e-02 1.03488144e+02] [ 2.49491075e-01 9.68372809e-01 -2.88192081e-03 1.19586396e+01] [ 1.20151797e-02 -1.19754857e-04 9.99927808e-01 1.07823147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.860281693 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:103.55, Y:11.97, Z:1.08 [[ 9.68956631e-01 -2.46955419e-01 -1.16648148e-02 1.03545732e+02] [ 2.46938607e-01 9.69026838e-01 -2.88287714e-03 1.19667015e+01] [ 1.20154607e-02 -8.71101860e-05 9.99927808e-01 1.07947496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.920281693 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:103.60, Y:11.98, Z:1.08 [[ 9.69488381e-01 -2.44859603e-01 -1.16642574e-02 1.03602102e+02] [ 2.44842612e-01 9.69558545e-01 -2.88513054e-03 1.19761257e+01] [ 1.20156323e-02 -5.88067147e-05 9.99927808e-01 1.08135676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.980281693 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:103.66, Y:11.99, Z:1.08 [[ 9.70343458e-01 -2.41448804e-01 -1.16640157e-02 1.03659233e+02] [ 2.41431555e-01 9.70413559e-01 -2.88610716e-03 1.19855832e+01] [ 1.20157661e-02 -1.55462562e-05 9.99927808e-01 1.08219817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.040281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:103.72, Y:12.00, Z:1.08 [[ 9.70784754e-01 -2.39668364e-01 -1.16634790e-02 1.03716093e+02] [ 2.39650960e-01 9.70854817e-01 -2.88827445e-03 1.19972309e+01] [ 1.20157728e-02 8.72884648e-06 9.99927808e-01 1.08274316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.100281693 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:103.77, Y:12.01, Z:1.08 [[ 9.71274299e-01 -2.37676695e-01 -1.16629392e-02 1.03771779e+02] [ 2.37659122e-01 9.71344320e-01 -2.89045252e-03 1.20105886e+01] [ 1.20157230e-02 3.56183497e-05 9.99927808e-01 1.08400192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.160281693 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:103.83, Y:12.02, Z:1.09 [[ 9.71645807e-01 -2.36153355e-01 -1.16627042e-02 1.03828773e+02] [ 2.36135660e-01 9.71715797e-01 -2.89140045e-03 1.20234241e+01] [ 1.20156479e-02 5.54367601e-05 9.99927808e-01 1.08581697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.220281693 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:103.89, Y:12.04, Z:1.08 [[ 9.71665069e-01 -2.36074113e-01 -1.16621604e-02 1.03885820e+02] [ 2.36056387e-01 9.71735051e-01 -2.89359242e-03 1.20358695e+01] [ 1.20156323e-02 5.86752396e-05 9.99927808e-01 1.08430337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.280281693 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:103.94, Y:12.05, Z:1.08 [[ 9.70933967e-01 -2.39063250e-01 -1.16616185e-02 1.03942832e+02] [ 2.39045712e-01 9.71003997e-01 -2.89577449e-03 1.20469158e+01] [ 1.20157515e-02 2.39459089e-05 9.99927808e-01 1.08322411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.340281693 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:104.00, Y:12.06, Z:1.08 [[ 9.69869992e-01 -2.43343827e-01 -1.16610787e-02 1.03999445e+02] [ 2.43326572e-01 9.69940091e-01 -2.89794676e-03 1.20580261e+01] [ 1.20157452e-02 -2.68187074e-05 9.99927808e-01 1.08308294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.400281693 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:104.06, Y:12.07, Z:1.08 [[ 9.69285520e-01 -2.45661582e-01 -1.16605451e-02 1.04056647e+02] [ 2.45644470e-01 9.69355654e-01 -2.90009221e-03 1.20692361e+01] [ 1.20156566e-02 -5.33310242e-05 9.99927808e-01 1.08381983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.460281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:104.11, Y:12.08, Z:1.09 [[ 9.68873863e-01 -2.47280170e-01 -1.16600144e-02 1.04113022e+02] [ 2.47263148e-01 9.68944019e-01 -2.90222446e-03 1.20797798e+01] [ 1.20155637e-02 -7.12024392e-05 9.99927808e-01 1.08676804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.520281693 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:104.17, Y:12.09, Z:1.09 [[ 9.69269793e-01 -2.45723661e-01 -1.16597849e-02 1.04169217e+02] [ 2.45706516e-01 9.69339920e-01 -2.90314599e-03 1.20925761e+01] [ 1.20156666e-02 -5.09534119e-05 9.99927808e-01 1.08736964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.580281693 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:104.23, Y:12.11, Z:1.09 [[ 9.70220345e-01 -2.41943267e-01 -1.16592368e-02 1.04225274e+02] [ 2.41925822e-01 9.70290397e-01 -2.90534567e-03 1.21060567e+01] [ 1.20157743e-02 -1.84497004e-06 9.99927808e-01 1.08943524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.640281693 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:104.28, Y:12.12, Z:1.09 [[ 9.70421099e-01 -2.41136821e-01 -1.16586918e-02 1.04281519e+02] [ 2.41119291e-01 9.70491130e-01 -2.90753074e-03 1.21200011e+01] [ 1.20157697e-02 1.03936595e-05 9.99927808e-01 1.08965165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70028169300001 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:104.34, Y:12.13, Z:1.09 [[ 9.69999897e-01 -2.42825632e-01 -1.16581453e-02 1.04337187e+02] [ 2.42808199e-01 9.70069952e-01 -2.90972071e-03 1.21303998e+01] [ 1.20157712e-02 -8.26446269e-06 9.99927808e-01 1.08956605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.760281693 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:104.39, Y:12.14, Z:1.09 [[ 9.70195432e-01 -2.42043213e-01 -1.16579090e-02 1.04392960e+02] [ 2.42025711e-01 9.70265470e-01 -2.91066715e-03 1.21445423e+01] [ 1.20157738e-02 2.40226639e-06 9.99927808e-01 1.09290948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.820281693 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:104.45, Y:12.16, Z:1.09 [[ 9.71368957e-01 -2.37289812e-01 -1.16573531e-02 1.04449829e+02] [ 2.37271941e-01 9.71438902e-01 -2.91289179e-03 1.21575366e+01] [ 1.20156058e-02 6.35298655e-05 9.99927808e-01 1.09278940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.880281693 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:104.51, Y:12.17, Z:1.10 [[ 9.72260490e-01 -2.33610059e-01 -1.16567895e-02 1.04505943e+02] [ 2.33591896e-01 9.72330359e-01 -2.91514544e-03 1.21692553e+01] [ 1.20152576e-02 1.11349171e-04 9.99927808e-01 1.09561539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.940281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:104.56, Y:12.18, Z:1.09 [[ 9.73043903e-01 -2.30325180e-01 -1.16565469e-02 1.04561571e+02] [ 2.30306769e-01 9.73113708e-01 -2.91611524e-03 1.21809740e+01] [ 1.20148003e-02 1.52926500e-04 9.99927808e-01 1.09385831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.000281693 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:104.62, Y:12.20, Z:1.09 [[ 9.73980813e-01 -2.26330523e-01 -1.16563197e-02 1.04617391e+02] [ 2.26311816e-01 9.74050539e-01 -2.91702318e-03 1.21961229e+01] [ 1.20140558e-02 2.03161748e-04 9.99927808e-01 1.09313946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06028169300001 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:104.67, Y:12.21, Z:1.09 [[ 9.75316926e-01 -2.20501785e-01 -1.16557630e-02 1.04672017e+02] [ 2.20482634e-01 9.75386532e-01 -2.91924586e-03 1.22122767e+01] [ 1.20125731e-02 2.77296577e-04 9.99927808e-01 1.09234088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.120281693 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:104.73, Y:12.23, Z:1.09 [[ 9.75612703e-01 -2.19189423e-01 -1.16555226e-02 1.04728508e+02] [ 2.19170168e-01 9.75682279e-01 -2.92020539e-03 1.22263343e+01] [ 1.20121650e-02 2.94446636e-04 9.99927808e-01 1.09281766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.180281693 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:104.78, Y:12.24, Z:1.09 [[ 9.75402245e-01 -2.20124106e-01 -1.16549757e-02 1.04784518e+02] [ 2.20104891e-01 9.75471833e-01 -2.92238658e-03 1.22429366e+01] [ 1.20123882e-02 2.85185285e-04 9.99927808e-01 1.09441707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.240281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:104.84, Y:12.26, Z:1.10 [[ 9.74945456e-01 -2.22138544e-01 -1.16544301e-02 1.04839282e+02] [ 2.22119447e-01 9.75015076e-01 -2.92456060e-03 1.22574842e+01] [ 1.20129027e-02 2.62611506e-04 9.99927808e-01 1.09716505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.300281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:104.90, Y:12.27, Z:1.10 [[ 9.74551085e-01 -2.23862383e-01 -1.16540600e-02 1.04895231e+02] [ 2.23843391e-01 9.74620734e-01 -2.92603475e-03 1.22719043e+01] [ 1.20133176e-02 2.42886030e-04 9.99927808e-01 1.09728553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.360281693 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:104.95, Y:12.28, Z:1.09 [[ 9.73913142e-01 -2.26621683e-01 -1.16535093e-02 1.04952449e+02] [ 2.26602862e-01 9.73982838e-01 -2.92822617e-03 1.22829160e+01] [ 1.20139176e-02 2.11119381e-04 9.99927808e-01 1.09299286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.420281693 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:105.01, Y:12.29, Z:1.10 [[ 9.73380145e-01 -2.28900182e-01 -1.16533389e-02 1.05009743e+02] [ 2.28881516e-01 9.73449882e-01 -2.92890414e-03 1.22935807e+01] [ 1.20143681e-02 1.83703250e-04 9.99927808e-01 1.10040138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.480281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:105.07, Y:12.30, Z:1.10 [[ 9.73192996e-01 -2.29694589e-01 -1.16527875e-02 1.05067284e+02] [ 2.29675954e-01 9.73262742e-01 -2.93109631e-03 1.23026163e+01] [ 1.20144809e-02 1.76157301e-04 9.99927808e-01 1.10318216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.540281693 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:105.13, Y:12.31, Z:1.10 [[ 9.73104711e-01 -2.30068353e-01 -1.16522355e-02 1.05125334e+02] [ 2.30049718e-01 9.73174457e-01 -2.93328910e-03 1.23111211e+01] [ 1.20145150e-02 1.73803940e-04 9.99927808e-01 1.09946803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.600281693 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:105.18, Y:12.32, Z:1.10 [[ 9.73040367e-01 -2.30340362e-01 -1.16516710e-02 1.05181377e+02] [ 2.30321720e-01 9.73110111e-01 -2.93552973e-03 1.23206151e+01] [ 1.20145299e-02 1.72756019e-04 9.99927808e-01 1.10208025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.660281693 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:105.24, Y:12.33, Z:1.10 [[ 9.72918851e-01 -2.30853100e-01 -1.16514272e-02 1.05237995e+02] [ 2.30834484e-01 9.72988601e-01 -2.93649708e-03 1.23304575e+01] [ 1.20146053e-02 1.67422176e-04 9.99927808e-01 1.10341646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.720281693 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:105.30, Y:12.34, Z:1.10 [[ 9.72989618e-01 -2.30554663e-01 -1.16511890e-02 1.05295342e+02] [ 2.30536014e-01 9.73059360e-01 -2.93744181e-03 1.23400371e+01] [ 1.20145395e-02 1.72081708e-04 9.99927808e-01 1.10087568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.780281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:105.35, Y:12.35, Z:1.10 [[ 9.73277063e-01 -2.29338227e-01 -1.16506331e-02 1.05352166e+02] [ 2.29319464e-01 9.73346774e-01 -2.93964509e-03 1.23508707e+01] [ 1.20142791e-02 1.89372200e-04 9.99927808e-01 1.10188409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.840281693 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:105.41, Y:12.36, Z:1.10 [[ 9.73237442e-01 -2.29506332e-01 -1.16500824e-02 1.05408555e+02] [ 2.29487556e-01 9.73307150e-01 -2.94182608e-03 1.23637947e+01] [ 1.20142762e-02 1.89546362e-04 9.99927808e-01 1.10257246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.900281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:105.46, Y:12.38, Z:1.10 [[ 9.72958803e-01 -2.30684754e-01 -1.16495289e-02 1.05464574e+02] [ 2.30666035e-01 9.73028526e-01 -2.94401603e-03 1.23788441e+01] [ 1.20144636e-02 1.77255663e-04 9.99927808e-01 1.10289135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.960281693 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:105.52, Y:12.39, Z:1.10 [[ 9.72320717e-01 -2.33359648e-01 -1.16489753e-02 1.05520480e+02] [ 2.33341095e-01 9.72390484e-01 -2.94620516e-03 1.23936365e+01] [ 1.20148781e-02 1.46471668e-04 9.99927808e-01 1.10005103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.020281693 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:105.58, Y:12.41, Z:1.10 [[ 9.71513517e-01 -2.36697701e-01 -1.16484149e-02 1.05576304e+02] [ 2.36679361e-01 9.71583340e-01 -2.94841912e-03 1.24080191e+01] [ 1.20152899e-02 1.07489632e-04 9.99927808e-01 1.10472612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.080281693 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:105.63, Y:12.42, Z:1.11 [[ 9.70615536e-01 -2.40353508e-01 -1.16478580e-02 1.05631315e+02] [ 2.40335405e-01 9.70685421e-01 -2.95061737e-03 1.24217442e+01] [ 1.20155972e-02 6.45223898e-05 9.99927808e-01 1.10806295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.140281693 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:105.69, Y:12.43, Z:1.11 [[ 9.69613693e-01 -2.44363703e-01 -1.16476168e-02 1.05689080e+02] [ 2.44345877e-01 9.69683650e-01 -2.95156947e-03 1.24318343e+01] [ 1.20157600e-02 1.58350342e-05 9.99927808e-01 1.10577326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.200281693 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:105.75, Y:12.44, Z:1.11 [[ 9.69442664e-01 -2.45041359e-01 -1.16470585e-02 1.05745081e+02] [ 2.45023555e-01 9.69512626e-01 -2.95377081e-03 1.24410391e+01] [ 1.20157663e-02 9.70776088e-06 9.99927808e-01 1.10781832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.260281693 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:105.80, Y:12.45, Z:1.11 [[ 9.69882941e-01 -2.43292896e-01 -1.16468182e-02 1.05801881e+02] [ 2.43274956e-01 9.69952868e-01 -2.95471803e-03 1.24520989e+01] [ 1.20157266e-02 3.23514351e-05 9.99927808e-01 1.10919250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.320281693 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:105.86, Y:12.46, Z:1.11 [[ 9.70917495e-01 -2.39130892e-01 -1.16462633e-02 1.05857492e+02] [ 2.39112625e-01 9.70987337e-01 -2.95690345e-03 1.24642073e+01] [ 1.20154612e-02 8.61406905e-05 9.99927808e-01 1.11097458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.380281693 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:105.91, Y:12.48, Z:1.11 [[ 9.71576660e-01 -2.36438499e-01 -1.16460235e-02 1.05913793e+02] [ 2.36420027e-01 9.71646449e-01 -2.95784783e-03 1.24778524e+01] [ 1.20151665e-02 1.20422726e-04 9.99927808e-01 1.10995504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.440281693 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:105.97, Y:12.49, Z:1.11 [[ 9.72221267e-01 -2.33773801e-01 -1.16454851e-02 1.05970232e+02] [ 2.33755113e-01 9.72290999e-01 -2.95996598e-03 1.24926641e+01] [ 1.20147628e-02 1.55550195e-04 9.99927808e-01 1.10723119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.500281693 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:106.03, Y:12.51, Z:1.11 [[ 9.72754632e-01 -2.31544427e-01 -1.16449054e-02 1.06025066e+02] [ 2.31525552e-01 9.72824313e-01 -2.96224468e-03 1.25085096e+01] [ 1.20143384e-02 1.85444077e-04 9.99927808e-01 1.11177336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56028169300001 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:106.08, Y:12.53, Z:1.11 [[ 9.73460943e-01 -2.28556771e-01 -1.16445127e-02 1.06079202e+02] [ 2.28537663e-01 9.73530561e-01 -2.96378787e-03 1.25271284e+01] [ 1.20136827e-02 2.23922019e-04 9.99927808e-01 1.11277101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.620281693 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:106.13, Y:12.54, Z:1.11 [[ 9.73813390e-01 -2.27050419e-01 -1.16442659e-02 1.06133880e+02] [ 2.27031192e-01 9.73882974e-01 -2.96475698e-03 1.25442513e+01] [ 1.20133016e-02 2.43508468e-04 9.99927808e-01 1.11201973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.680281693 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:106.19, Y:12.57, Z:1.11 [[ 9.74597407e-01 -2.23661158e-01 -1.16438892e-02 1.06187896e+02] [ 2.23641672e-01 9.74666919e-01 -2.96623574e-03 1.25661251e+01] [ 1.20123453e-02 2.86826813e-04 9.99927808e-01 1.11046618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.740281693 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:106.24, Y:12.59, Z:1.12 [[ 9.75714800e-01 -2.18735140e-01 -1.16433329e-02 1.06241253e+02] [ 2.18715277e-01 9.75784206e-01 -2.96841794e-03 1.25905399e+01] [ 1.20106776e-02 3.49754542e-04 9.99927808e-01 1.11512559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.800281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:106.29, Y:12.62, Z:1.12 [[ 9.75783941e-01 -2.18426525e-01 -1.16427772e-02 1.06294909e+02] [ 2.18406613e-01 9.75853333e-01 -2.97059561e-03 1.26159052e+01] [ 1.20104998e-02 3.55799943e-04 9.99927808e-01 1.11787031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.860281693 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:106.35, Y:12.63, Z:1.12 [[ 9.74625833e-01 -2.23537345e-01 -1.16422252e-02 1.06349855e+02] [ 2.23517772e-01 9.74695321e-01 -2.97275773e-03 1.26347007e+01] [ 1.20121448e-02 2.95082247e-04 9.99927808e-01 1.11854981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.920281693 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:106.40, Y:12.66, Z:1.12 [[ 9.72266881e-01 -2.33584213e-01 -1.16416676e-02 1.06404004e+02] [ 2.33565332e-01 9.72336560e-01 -2.97493962e-03 1.26556891e+01] [ 1.20145179e-02 1.73345303e-04 9.99927808e-01 1.12016239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.980281693 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:106.46, Y:12.67, Z:1.12 [[ 9.71719011e-01 -2.35853024e-01 -1.16411128e-02 1.06458058e+02] [ 2.35834279e-01 9.71788727e-01 -2.97710887e-03 1.26745702e+01] [ 1.20148623e-02 1.47539835e-04 9.99927808e-01 1.12433639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.040281693 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:106.51, Y:12.70, Z:1.12 [[ 9.71507596e-01 -2.36722370e-01 -1.16408718e-02 1.06511909e+02] [ 2.36703677e-01 9.71577326e-01 -2.97805117e-03 1.26971786e+01] [ 1.20149784e-02 1.37762188e-04 9.99927808e-01 1.12060470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.100281693 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:106.57, Y:12.71, Z:1.12 [[ 9.69905251e-01 -2.43204251e-01 -1.16403220e-02 1.06566444e+02] [ 2.43185998e-01 9.69975097e-01 -2.98019856e-03 1.27127387e+01] [ 1.20156194e-02 5.97469156e-05 9.99927808e-01 1.11939965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.160281693 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:106.62, Y:12.73, Z:1.12 [[ 9.68271803e-01 -2.49628178e-01 -1.16399490e-02 1.06622418e+02] [ 2.49610371e-01 9.68341764e-01 -2.98165464e-03 1.27265923e+01] [ 1.20157538e-02 -1.83998684e-05 9.99927808e-01 1.12275265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.220281693 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:106.68, Y:12.74, Z:1.13 [[ 9.66804446e-01 -2.55252205e-01 -1.16393636e-02 1.06678322e+02] [ 2.55234778e-01 9.66874503e-01 -2.98393827e-03 1.27366654e+01] [ 1.20154607e-02 -8.58855837e-05 9.99927808e-01 1.12539671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.280281693 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:106.74, Y:12.75, Z:1.12 [[ 9.67130544e-01 -2.54013862e-01 -1.16391122e-02 1.06735393e+02] [ 2.53996333e-01 9.67200576e-01 -2.98491852e-03 1.27478916e+01] [ 1.20155667e-02 -6.94859272e-05 9.99927808e-01 1.12307817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.340281693 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:106.79, Y:12.76, Z:1.12 [[ 9.68611706e-01 -2.48306073e-01 -1.16385807e-02 1.06793176e+02] [ 2.48288106e-01 9.68681627e-01 -2.98698932e-03 1.27574456e+01] [ 1.20157669e-02 3.51166154e-06 9.99927808e-01 1.11891512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.400281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:106.85, Y:12.77, Z:1.12 [[ 9.69570471e-01 -2.44535596e-01 -1.16380054e-02 1.06848312e+02] [ 2.44517330e-01 9.69640315e-01 -2.98922901e-03 1.27722614e+01] [ 1.20156521e-02 5.25741581e-05 9.99927808e-01 1.11982133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.460281693 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:106.90, Y:12.79, Z:1.13 [[ 9.70673281e-01 -2.40120688e-01 -1.16377557e-02 1.06903526e+02] [ 2.40102093e-01 9.70743037e-01 -2.99020111e-03 1.27886936e+01] [ 1.20152794e-02 1.08258827e-04 9.99927808e-01 1.13018198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.520281693 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:106.96, Y:12.80, Z:1.13 [[ 9.70969738e-01 -2.38919117e-01 -1.16371854e-02 1.06958404e+02] [ 2.38900410e-01 9.71039464e-01 -2.99241897e-03 1.28046747e+01] [ 1.20151123e-02 1.25419911e-04 9.99927808e-01 1.12907334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.580281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:107.01, Y:12.82, Z:1.13 [[ 9.70965077e-01 -2.38938068e-01 -1.16369393e-02 1.07013845e+02] [ 2.38919350e-01 9.71034800e-01 -2.99337557e-03 1.28199217e+01] [ 1.20151044e-02 1.26173170e-04 9.99927808e-01 1.12950184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.640281693 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:107.07, Y:12.83, Z:1.13 [[ 9.70892123e-01 -2.39234364e-01 -1.16363795e-02 1.07069763e+02] [ 2.39215641e-01 9.70961845e-01 -2.99555011e-03 1.28343395e+01] [ 1.20151190e-02 1.24752016e-04 9.99927808e-01 1.13120417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.700281693 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:107.13, Y:12.84, Z:1.13 [[ 9.70761315e-01 -2.39764631e-01 -1.16357982e-02 1.07126303e+02] [ 2.39745919e-01 9.70831039e-01 -2.99780633e-03 1.28449919e+01] [ 1.20151620e-02 1.20519276e-04 9.99927808e-01 1.12971342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.760281693 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:107.18, Y:12.86, Z:1.13 [[ 9.71546260e-01 -2.36563901e-01 -1.16355467e-02 1.07182874e+02] [ 2.36544948e-01 9.71615919e-01 -2.99878236e-03 1.28569356e+01] [ 1.20146860e-02 1.61126001e-04 9.99927808e-01 1.12972193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.820281693 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:107.24, Y:12.87, Z:1.13 [[ 9.72380534e-01 -2.33110968e-01 -1.16349856e-02 1.07238540e+02] [ 2.33091742e-01 9.72450119e-01 -3.00095750e-03 1.28687633e+01] [ 1.20139993e-02 2.06053591e-04 9.99927808e-01 1.12994297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.880281693 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:107.30, Y:12.88, Z:1.13 [[ 9.72474027e-01 -2.32720646e-01 -1.16347436e-02 1.07296170e+02] [ 2.32701381e-01 9.72543601e-01 -3.00189567e-03 1.28783919e+01] [ 1.20138985e-02 2.11844673e-04 9.99927808e-01 1.13016164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.940281693 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:107.35, Y:12.89, Z:1.13 [[ 9.72295580e-01 -2.33465095e-01 -1.16341841e-02 1.07351343e+02] [ 2.33445857e-01 9.72365162e-01 -3.00406258e-03 1.28913916e+01] [ 1.20140190e-02 2.04884694e-04 9.99927808e-01 1.12924950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.000281693 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:107.41, Y:12.90, Z:1.13 [[ 9.72133277e-01 -2.34140013e-01 -1.16338033e-02 1.07408419e+02] [ 2.34120806e-01 9.72202867e-01 -3.00553652e-03 1.29033579e+01] [ 1.20141333e-02 1.98066662e-04 9.99927808e-01 1.12890170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06028169300001 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:107.46, Y:12.92, Z:1.14 [[ 9.73537964e-01 -2.28229054e-01 -1.16332412e-02 1.07464053e+02] [ 2.28209398e-01 9.73607428e-01 -3.00771047e-03 1.29197842e+01] [ 1.20126570e-02 2.73305350e-04 9.99927808e-01 1.13659999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.120281693 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:107.52, Y:12.94, Z:1.13 [[ 9.75100681e-01 -2.21457318e-01 -1.16326793e-02 1.07519016e+02] [ 2.21437154e-01 9.75169999e-01 -3.00988202e-03 1.29392644e+01] [ 1.20104003e-02 3.59030598e-04 9.99927808e-01 1.13402407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.180281693 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:107.57, Y:12.96, Z:1.13 [[ 9.76678916e-01 -2.14389805e-01 -1.16321200e-02 1.07573225e+02] [ 2.14369114e-01 9.76748079e-01 -3.01204226e-03 1.29630477e+01] [ 1.20074020e-02 4.48230924e-04 9.99927808e-01 1.12641496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.240281693 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:107.63, Y:12.99, Z:1.13 [[ 9.76844606e-01 -2.13633615e-01 -1.16315654e-02 1.07625870e+02] [ 2.13612845e-01 9.76913746e-01 -3.01418239e-03 1.29907029e+01] [ 1.20069668e-02 4.59736032e-04 9.99927808e-01 1.13499167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.300281693 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:107.68, Y:13.02, Z:1.13 [[ 9.76626591e-01 -2.14628100e-01 -1.16310049e-02 1.07677410e+02] [ 2.14607375e-01 9.76695744e-01 -3.01634364e-03 1.30179248e+01] [ 1.20073451e-02 4.49741978e-04 9.99927808e-01 1.13474120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.360281693 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:107.73, Y:13.04, Z:1.14 [[ 9.76335408e-01 -2.15948827e-01 -1.16307624e-02 1.07730872e+02] [ 2.15928185e-01 9.76404586e-01 -3.01727819e-03 1.30431379e+01] [ 1.20079075e-02 4.34466120e-04 9.99927808e-01 1.13616799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.420281693 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:107.78, Y:13.07, Z:1.14 [[ 9.75616069e-01 -2.19175785e-01 -1.16302022e-02 1.07782718e+02] [ 2.19155345e-01 9.75685307e-01 -3.01943617e-03 1.30695595e+01] [ 1.20092047e-02 3.96989472e-04 9.99927808e-01 1.13985354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.480281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:107.84, Y:13.10, Z:1.14 [[ 9.74507894e-01 -2.24051582e-01 -1.16298219e-02 1.07835295e+02] [ 2.24031471e-01 9.74577228e-01 -3.02090024e-03 1.30977889e+01] [ 1.20109971e-02 3.38445022e-04 9.99927808e-01 1.13898783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.540281693 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:107.89, Y:13.12, Z:1.14 [[ 9.73903845e-01 -2.26662879e-01 -1.16292755e-02 1.07889250e+02] [ 2.26642929e-01 9.73973226e-01 -3.02300218e-03 1.31195146e+01] [ 1.20118053e-02 3.08420379e-04 9.99927808e-01 1.13864129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.600281693 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:107.94, Y:13.15, Z:1.14 [[ 9.73203382e-01 -2.29651804e-01 -1.16287051e-02 1.07941824e+02] [ 2.29632041e-01 9.73272816e-01 -3.02519484e-03 1.31461917e+01] [ 1.20126440e-02 2.73806573e-04 9.99927808e-01 1.13550239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.660281693 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:107.99, Y:13.17, Z:1.14 [[ 9.72324805e-01 -2.33343652e-01 -1.16281268e-02 1.07994920e+02] [ 2.33324127e-01 9.72394306e-01 -3.02741592e-03 1.31703486e+01] [ 1.20135526e-02 2.30509067e-04 9.99927808e-01 1.13679013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.720281693 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:108.05, Y:13.19, Z:1.14 [[ 9.70655395e-01 -2.40193474e-01 -1.16275534e-02 1.08047959e+02] [ 2.40174412e-01 9.70725025e-01 -3.02961683e-03 1.31933387e+01] [ 1.20148512e-02 1.48073127e-04 9.99927808e-01 1.13925398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.780281693 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:108.10, Y:13.21, Z:1.14 [[ 9.69379568e-01 -2.45291783e-01 -1.16273062e-02 1.08103242e+02] [ 2.45273076e-01 9.69449294e-01 -3.03056524e-03 1.32099989e+01] [ 1.20154565e-02 8.59028744e-05 9.99927808e-01 1.13855193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.840281693 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:108.16, Y:13.23, Z:1.14 [[ 9.67204663e-01 -2.53732061e-01 -1.16267540e-02 1.08158737e+02] [ 2.53713937e-01 9.67274543e-01 -3.03268216e-03 1.32286941e+01] [ 1.20157518e-02 -1.66452034e-05 9.99927808e-01 1.13747315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.900281693 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:108.21, Y:13.24, Z:1.14 [[ 9.64685944e-01 -2.63146081e-01 -1.16261986e-02 1.08214750e+02] [ 2.63128614e-01 9.64755991e-01 -3.03480974e-03 1.32419413e+01] [ 1.20150431e-02 -1.31547226e-04 9.99927808e-01 1.13884154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.960281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:108.27, Y:13.25, Z:1.14 [[ 9.62889817e-01 -2.69644292e-01 -1.16256500e-02 1.08270933e+02] [ 2.69627272e-01 9.62959974e-01 -3.03691003e-03 1.32534624e+01] [ 1.20139210e-02 -2.10382542e-04 9.99927808e-01 1.13951265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.020281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:108.33, Y:13.26, Z:1.14 [[ 9.60588332e-01 -2.77731717e-01 -1.16254139e-02 1.08329075e+02] [ 2.77715276e-01 9.60658627e-01 -3.03781356e-03 1.32608092e+01] [ 1.20117513e-02 -3.10466766e-04 9.99927808e-01 1.14095353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.080281693 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:108.39, Y:13.26, Z:1.14 [[ 9.59773126e-01 -2.80535932e-01 -1.16248658e-02 1.08387517e+02] [ 2.80519672e-01 9.59843463e-01 -3.03990927e-03 1.32639077e+01] [ 1.20108553e-02 -3.43380324e-04 9.99927808e-01 1.14092880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.140281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:108.45, Y:13.27, Z:1.14 [[ 9.59844891e-01 -2.80290302e-01 -1.16246294e-02 1.08445611e+02] [ 2.80274012e-01 9.59915221e-01 -3.04081298e-03 1.32697208e+01] [ 1.20109691e-02 -3.39372732e-04 9.99927808e-01 1.14133002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.200281693 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:108.50, Y:13.27, Z:1.14 [[ 9.61466542e-01 -2.74676118e-01 -1.16240683e-02 1.08503775e+02] [ 2.74659391e-01 9.61536770e-01 -3.04295653e-03 1.32717275e+01] [ 1.20127966e-02 -2.66958639e-04 9.99927808e-01 1.14232745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.260281693 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:108.56, Y:13.28, Z:1.15 [[ 9.64495248e-01 -2.63844279e-01 -1.16238256e-02 1.08561690e+02] [ 2.63826752e-01 9.64565280e-01 -3.04388321e-03 1.32784621e+01] [ 1.20150498e-02 -1.30865277e-04 9.99927808e-01 1.14663072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.320281693 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:108.62, Y:13.29, Z:1.15 [[ 9.66832623e-01 -2.55146192e-01 -1.16232745e-02 1.08619521e+02] [ 2.55128010e-01 9.66902487e-01 -3.04598636e-03 1.32881608e+01] [ 1.20157448e-02 -2.04639106e-05 9.99927808e-01 1.14773627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.380281693 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:108.68, Y:13.30, Z:1.15 [[ 9.67860042e-01 -2.51220723e-01 -1.16226919e-02 1.08675367e+02] [ 2.51202231e-01 9.67929826e-01 -3.04820790e-03 1.33000134e+01] [ 1.20157231e-02 3.05924953e-05 9.99927808e-01 1.14866919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.440281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:108.73, Y:13.31, Z:1.15 [[ 9.68873757e-01 -2.47282353e-01 -1.16224382e-02 1.08730146e+02] [ 2.47263567e-01 9.68943461e-01 -3.04917485e-03 1.33145890e+01] [ 1.20154926e-02 8.04599794e-05 9.99927808e-01 1.14989176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.500281693 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:108.79, Y:13.33, Z:1.15 [[ 9.70018320e-01 -2.42753757e-01 -1.16220467e-02 1.08785348e+02] [ 2.42734627e-01 9.70087931e-01 -3.05066639e-03 1.33343422e+01] [ 1.20149679e-02 1.38129127e-04 9.99927808e-01 1.14773072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56028169300001 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:108.84, Y:13.35, Z:1.15 [[ 9.69789182e-01 -2.43667568e-01 -1.16214739e-02 1.08840157e+02] [ 2.43648477e-01 9.69858804e-01 -3.05284680e-03 1.33547620e+01] [ 1.20150685e-02 1.29063385e-04 9.99927808e-01 1.15171035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.620281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:108.90, Y:13.37, Z:1.15 [[ 9.68220629e-01 -2.49827476e-01 -1.16208917e-02 1.08896052e+02] [ 2.49808802e-01 9.68290364e-01 -3.05506118e-03 1.33697839e+01] [ 1.20156357e-02 5.49722142e-05 9.99927808e-01 1.15063688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.680281693 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:108.95, Y:13.38, Z:1.15 [[ 9.64977939e-01 -2.62073549e-01 -1.16203153e-02 1.08953580e+02] [ 2.62055733e-01 9.65047898e-01 -3.05725226e-03 1.33806007e+01] [ 1.20153858e-02 -9.49892494e-05 9.99927808e-01 1.15042000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.740281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:109.01, Y:13.39, Z:1.15 [[ 9.63089330e-01 -2.68931076e-01 -1.16197330e-02 1.09010035e+02] [ 2.68913731e-01 9.63159408e-01 -3.05946368e-03 1.33900404e+01] [ 1.20144400e-02 -1.78168943e-04 9.99927808e-01 1.15389046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.800281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:109.07, Y:13.40, Z:1.15 [[ 9.62667012e-01 -2.70438926e-01 -1.16194823e-02 1.09067016e+02] [ 2.70421680e-01 9.62737113e-01 -3.06041569e-03 1.34024111e+01] [ 1.20141624e-02 -1.95998684e-04 9.99927808e-01 1.15235182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.860281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:109.12, Y:13.41, Z:1.15 [[ 9.62094871e-01 -2.72467354e-01 -1.16189179e-02 1.09124832e+02] [ 2.72450230e-01 9.62165003e-01 -3.06255690e-03 1.34091317e+01] [ 1.20137629e-02 -2.19106557e-04 9.99927808e-01 1.14906989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.920281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:109.18, Y:13.42, Z:1.15 [[ 9.61789752e-01 -2.73542479e-01 -1.16183570e-02 1.09182098e+02] [ 2.73525407e-01 9.61859896e-01 -3.06468339e-03 1.34166308e+01] [ 1.20135527e-02 -2.30334746e-04 9.99927808e-01 1.14830388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.980281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:109.24, Y:13.43, Z:1.15 [[ 9.62142727e-01 -2.72298351e-01 -1.16181142e-02 1.09238461e+02] [ 2.72281178e-01 9.62212847e-01 -3.06560352e-03 1.34277434e+01] [ 1.20138575e-02 -2.13845678e-04 9.99927808e-01 1.14884134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.040281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:109.29, Y:13.44, Z:1.15 [[ 9.64177345e-01 -2.65003911e-01 -1.16178771e-02 1.09293636e+02] [ 2.64986196e-01 9.64247329e-01 -3.06650160e-03 1.34443416e+01] [ 1.20151419e-02 -1.21925697e-04 9.99927808e-01 1.15278123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.100281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:109.35, Y:13.46, Z:1.15 [[ 9.66108061e-01 -2.57876429e-01 -1.16173349e-02 1.09348169e+02] [ 2.57858174e-01 9.66177906e-01 -3.06855435e-03 1.34635076e+01] [ 1.20157202e-02 -3.10696756e-05 9.99927808e-01 1.15221646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.160281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:109.40, Y:13.49, Z:1.15 [[ 9.68783112e-01 -2.47637500e-01 -1.16167824e-02 1.09401022e+02] [ 2.47618481e-01 9.68852754e-01 -3.07064468e-03 1.34874555e+01] [ 1.20153584e-02 9.82586974e-05 9.99927808e-01 1.15292464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.220281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:109.46, Y:13.51, Z:1.15 [[ 9.69381096e-01 -2.45286253e-01 -1.16165426e-02 1.09455623e+02] [ 2.45267054e-01 9.69450689e-01 -3.07155160e-03 1.35087426e+01] [ 1.20150746e-02 1.28348879e-04 9.99927808e-01 1.15323494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.280281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:109.51, Y:13.53, Z:1.16 [[ 9.68192761e-01 -2.49935682e-01 -1.16160083e-02 1.09509627e+02] [ 2.49916793e-01 9.68262438e-01 -3.07357067e-03 1.35320092e+01] [ 1.20155395e-02 7.27733241e-05 9.99927808e-01 1.15875896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.340281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:109.56, Y:13.55, Z:1.16 [[ 9.66658941e-01 -2.55803776e-01 -1.16154697e-02 1.09564175e+02] [ 2.55785286e-01 9.66728725e-01 -3.07560484e-03 1.35537629e+01] [ 1.20157596e-02 1.99467940e-06 9.99927808e-01 1.16084785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.400281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:109.62, Y:13.57, Z:1.15 [[ 9.66018915e-01 -2.58210282e-01 -1.16149034e-02 1.09620112e+02] [ 2.58191940e-01 9.66088738e-01 -3.07774190e-03 1.35745143e+01] [ 1.20157320e-02 -2.57175585e-05 9.99927808e-01 1.15135807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.460281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:109.68, Y:13.59, Z:1.15 [[ 9.65187758e-01 -2.61300016e-01 -1.16144043e-02 1.09675542e+02] [ 2.61281875e-01 9.65257633e-01 -3.07962431e-03 1.35915791e+01] [ 1.20155983e-02 -6.22176458e-05 9.99927808e-01 1.15191820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.520281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.73, Y:13.61, Z:1.15 [[ 9.64448621e-01 -2.64015107e-01 -1.16138204e-02 1.09730543e+02] [ 2.63997136e-01 9.64518540e-01 -3.08182497e-03 1.36073807e+01] [ 1.20153934e-02 -9.37534699e-05 9.99927808e-01 1.15464320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.580281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:109.79, Y:13.62, Z:1.16 [[ 9.63974609e-01 -2.65740624e-01 -1.16135697e-02 1.09786149e+02] [ 2.65722767e-01 9.64044557e-01 -3.08276916e-03 1.36243157e+01] [ 1.20152157e-02 -1.14278677e-04 9.99927808e-01 1.15534861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.640281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:109.84, Y:13.64, Z:1.16 [[ 9.62905603e-01 -2.69588460e-01 -1.16129896e-02 1.09842649e+02] [ 2.69570856e-01 9.62975616e-01 -3.08495297e-03 1.36384138e+01] [ 1.20146935e-02 -1.60005045e-04 9.99927808e-01 1.15762259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.700281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:109.90, Y:13.65, Z:1.15 [[ 9.61352491e-01 -2.75075516e-01 -1.16124001e-02 1.09898590e+02] [ 2.75058285e-01 9.61422597e-01 -3.08717051e-03 1.36510035e+01] [ 1.20136288e-02 -2.26227788e-04 9.99927808e-01 1.15448903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.760281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:109.95, Y:13.66, Z:1.16 [[ 9.60135490e-01 -2.79293750e-01 -1.16121459e-02 1.09954788e+02] [ 2.79276815e-01 9.60205668e-01 -3.08812620e-03 1.36632905e+01] [ 1.20125427e-02 -2.77983563e-04 9.99927808e-01 1.15574440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.820281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.01, Y:13.67, Z:1.16 [[ 9.59530548e-01 -2.81365065e-01 -1.16115786e-02 1.10011640e+02] [ 2.81348256e-01 9.59600755e-01 -3.09025771e-03 1.36738525e+01] [ 1.20119702e-02 -3.01700720e-04 9.99927808e-01 1.15684492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.880281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:110.07, Y:13.68, Z:1.16 [[ 9.59608758e-01 -2.81098233e-01 -1.16110135e-02 1.10069625e+02] [ 2.81081379e-01 9.59678954e-01 -3.09237948e-03 1.36811357e+01] [ 1.20121077e-02 -2.96165261e-04 9.99927808e-01 1.16071503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.940281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:110.13, Y:13.68, Z:1.16 [[ 9.58720284e-01 -2.84113737e-01 -1.16104425e-02 1.10128757e+02] [ 2.84097077e-01 9.58790527e-01 -3.09452206e-03 1.36846261e+01] [ 1.20111785e-02 -3.31711710e-04 9.99927808e-01 1.16249869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.000281693 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:110.19, Y:13.69, Z:1.16 [[ 9.59287892e-01 -2.82191339e-01 -1.16098723e-02 1.10188113e+02] [ 2.82174513e-01 9.59358095e-01 -3.09665972e-03 1.36878416e+01] [ 1.20118755e-02 -3.05421886e-04 9.99927808e-01 1.16188103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06028169300001 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:110.24, Y:13.70, Z:1.16 [[ 9.61582894e-01 -2.74269142e-01 -1.16092782e-02 1.10244362e+02] [ 2.74251711e-01 9.61652950e-01 -3.09888532e-03 1.36996213e+01] [ 1.20140253e-02 -2.04029297e-04 9.99927808e-01 1.16299584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.120281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:110.30, Y:13.71, Z:1.16 [[ 9.65832588e-01 -2.58906630e-01 -1.16090212e-02 1.10299307e+02] [ 2.58888073e-01 9.65902354e-01 -3.09984800e-03 1.37148567e+01] [ 1.20157521e-02 -1.15029002e-05 9.99927808e-01 1.16370114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.180281693 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:110.35, Y:13.74, Z:1.16 [[ 9.68025109e-01 -2.50584567e-01 -1.16087788e-02 1.10354175e+02] [ 2.50565399e-01 9.68094709e-01 -3.10075533e-03 1.37355479e+01] [ 1.20153988e-02 9.28507220e-05 9.99927808e-01 1.16491579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.240281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:110.41, Y:13.76, Z:1.16 [[ 9.67787960e-01 -2.51498936e-01 -1.16081896e-02 1.10406794e+02] [ 2.51479807e-01 9.67857571e-01 -3.10295964e-03 1.37583479e+01] [ 1.20154652e-02 8.37817047e-05 9.99927808e-01 1.16244066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.300281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:110.46, Y:13.78, Z:1.16 [[ 9.66954392e-01 -2.54685027e-01 -1.16077873e-02 1.10461522e+02] [ 2.54666109e-01 9.67024061e-01 -3.10446397e-03 1.37785739e+01] [ 1.20156701e-02 4.57650543e-05 9.99927808e-01 1.16192130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.360281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:110.51, Y:13.80, Z:1.16 [[ 9.65799104e-01 -2.59031587e-01 -1.16072258e-02 1.10514494e+02] [ 2.59012958e-01 9.65868851e-01 -3.10656193e-03 1.38011467e+01] [ 1.20157555e-02 -6.10715648e-06 9.99927808e-01 1.16306395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.420281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:110.57, Y:13.82, Z:1.16 [[ 9.64545034e-01 -2.63662957e-01 -1.16069827e-02 1.10569527e+02] [ 2.63644652e-01 9.64614867e-01 -3.10746989e-03 1.38190063e+01] [ 1.20155928e-02 -6.28242546e-05 9.99927808e-01 1.15883920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.480281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.62, Y:13.83, Z:1.16 [[ 9.62660076e-01 -2.70464173e-01 -1.16063880e-02 1.10624348e+02] [ 2.70446335e-01 9.62730030e-01 -3.10968959e-03 1.38328696e+01] [ 1.20148778e-02 -1.45331068e-04 9.99927808e-01 1.15959592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.540281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:110.68, Y:13.84, Z:1.16 [[ 9.61378165e-01 -2.74986039e-01 -1.16061297e-02 1.10680500e+02] [ 2.74968518e-01 9.61448198e-01 -3.11065317e-03 1.38449215e+01] [ 1.20140787e-02 -2.00806243e-04 9.99927808e-01 1.16100638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.600281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:110.74, Y:13.86, Z:1.16 [[ 9.60806567e-01 -2.76976614e-01 -1.16058796e-02 1.10737894e+02] [ 2.76959227e-01 9.60876634e-01 -3.11158598e-03 1.38562690e+01] [ 1.20136551e-02 -2.24723198e-04 9.99927808e-01 1.16384512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.660281693 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:110.79, Y:13.87, Z:1.16 [[ 9.61069249e-01 -2.76063791e-01 -1.16053044e-02 1.10793295e+02] [ 2.76046311e-01 9.61139292e-01 -3.11372984e-03 1.38705336e+01] [ 1.20139021e-02 -2.11091470e-04 9.99927808e-01 1.16406428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.720281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:110.85, Y:13.89, Z:1.16 [[ 9.61566747e-01 -2.74325927e-01 -1.16050552e-02 1.10848503e+02] [ 2.74308309e-01 9.61636756e-01 -3.11465851e-03 1.38878985e+01] [ 1.20142792e-02 -1.88411005e-04 9.99927808e-01 1.16436317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.780281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:110.90, Y:13.90, Z:1.16 [[ 9.61896488e-01 -2.73167498e-01 -1.16044690e-02 1.10902604e+02] [ 2.73149770e-01 9.61966469e-01 -3.11684071e-03 1.39044645e+01] [ 1.20145297e-02 -1.71679916e-04 9.99927808e-01 1.16379076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.840281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:110.96, Y:13.92, Z:1.16 [[ 9.62132588e-01 -2.72334768e-01 -1.16042160e-02 1.10957430e+02] [ 2.72316968e-01 9.62202551e-01 -3.11778254e-03 1.39232300e+01] [ 1.20146868e-02 -1.60304732e-04 9.99927808e-01 1.15992313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.900281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:111.01, Y:13.94, Z:1.16 [[ 9.61572082e-01 -2.74307286e-01 -1.16036373e-02 1.11012239e+02] [ 2.74289603e-01 9.61642075e-01 -3.11993489e-03 1.39413137e+01] [ 1.20143667e-02 -1.82714785e-04 9.99927808e-01 1.16314396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.960281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:111.07, Y:13.96, Z:1.16 [[ 9.60638658e-01 -2.77558531e-01 -1.16030513e-02 1.11066434e+02] [ 2.77541059e-01 9.60708704e-01 -3.12211255e-03 1.39587682e+01] [ 1.20137214e-02 -2.21101138e-04 9.99927808e-01 1.16336213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.020281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:111.12, Y:13.97, Z:1.16 [[ 9.59164056e-01 -2.82612258e-01 -1.16027983e-02 1.11122231e+02] [ 2.82595144e-01 9.59234190e-01 -3.12305260e-03 1.39734758e+01] [ 1.20124138e-02 -2.83374655e-04 9.99927808e-01 1.16207933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.080281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:111.18, Y:13.99, Z:1.16 [[ 9.58432961e-01 -2.85081825e-01 -1.16022411e-02 1.11178307e+02] [ 2.85064866e-01 9.58503133e-01 -3.12512109e-03 1.39869864e+01] [ 1.20116997e-02 -3.12172264e-04 9.99927808e-01 1.16335875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.140281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:111.23, Y:14.00, Z:1.17 [[ 9.58040639e-01 -2.86397512e-01 -1.16016635e-02 1.11233220e+02] [ 2.86380624e-01 9.58110828e-01 -3.12726393e-03 1.40004411e+01] [ 1.20113201e-02 -3.26445707e-04 9.99927808e-01 1.16586848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.200281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:111.29, Y:14.01, Z:1.17 [[ 9.57567545e-01 -2.87975352e-01 -1.16014148e-02 1.11288980e+02] [ 2.87958568e-01 9.57637759e-01 -3.12818642e-03 1.40141038e+01] [ 1.20107935e-02 -3.45277002e-04 9.99927808e-01 1.16710485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.260281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:111.35, Y:14.02, Z:1.17 [[ 9.56696069e-01 -2.90857430e-01 -1.16011716e-02 1.11345933e+02] [ 2.90840847e-01 9.56766330e-01 -3.12908801e-03 1.40240796e+01] [ 1.20097289e-02 -3.80508380e-04 9.99927808e-01 1.16797129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.320281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:111.40, Y:14.03, Z:1.17 [[ 9.56877192e-01 -2.90261029e-01 -1.16006113e-02 1.11402247e+02] [ 2.90244377e-01 9.56947437e-01 -3.13116375e-03 1.40333316e+01] [ 1.20100301e-02 -3.70873039e-04 9.99927808e-01 1.17160179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.380281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:111.46, Y:14.05, Z:1.17 [[ 9.58224769e-01 -2.85780902e-01 -1.16003694e-02 1.11459157e+02] [ 2.85763910e-01 9.58294933e-01 -3.13206001e-03 1.40455075e+01] [ 1.20116581e-02 -3.13749430e-04 9.99927808e-01 1.17121073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.440281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:111.52, Y:14.06, Z:1.17 [[ 9.59378030e-01 -2.81885152e-01 -1.15998184e-02 1.11515494e+02] [ 2.81867851e-01 9.59448118e-01 -3.13409903e-03 1.40573795e+01] [ 1.20128800e-02 -2.62830152e-04 9.99927808e-01 1.17010017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.500281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:111.57, Y:14.07, Z:1.17 [[ 9.61258448e-01 -2.75404514e-01 -1.15995797e-02 1.11571524e+02] [ 2.75386730e-01 9.61328415e-01 -3.13498256e-03 1.40730954e+01] [ 1.20143939e-02 -1.80841837e-04 9.99927808e-01 1.17015141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56028169300001 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:111.63, Y:14.09, Z:1.17 [[ 9.62198786e-01 -2.72101008e-01 -1.15990413e-02 1.11627181e+02] [ 2.72082959e-01 9.62268685e-01 -3.13697299e-03 1.40909428e+01] [ 1.20149678e-02 -1.37509884e-04 9.99927808e-01 1.17221667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.620281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:111.68, Y:14.11, Z:1.17 [[ 9.62008303e-01 -2.72773717e-01 -1.15984982e-02 1.11682993e+02] [ 2.72755693e-01 9.62078208e-01 -3.13898008e-03 1.41076546e+01] [ 1.20148936e-02 -1.43831501e-04 9.99927808e-01 1.16964494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.680281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:111.74, Y:14.12, Z:1.17 [[ 9.61158429e-01 -2.75753446e-01 -1.15979366e-02 1.11737758e+02] [ 2.75735614e-01 9.61228383e-01 -3.14105357e-03 1.41229858e+01] [ 1.20144222e-02 -1.78914048e-04 9.99927808e-01 1.16824593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.740281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:111.79, Y:14.14, Z:1.17 [[ 9.60535143e-01 -2.77916779e-01 -1.15975544e-02 1.11793073e+02] [ 2.77899087e-01 9.60605133e-01 -3.14246424e-03 1.41385429e+01] [ 1.20140138e-02 -2.04502435e-04 9.99927808e-01 1.16898126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.800281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:111.85, Y:14.15, Z:1.17 [[ 9.60163885e-01 -2.79196732e-01 -1.15973222e-02 1.11849054e+02] [ 2.79179124e-01 9.60233897e-01 -3.14332077e-03 1.41519810e+01] [ 1.20137468e-02 -2.19627170e-04 9.99927808e-01 1.16929176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.860281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:111.90, Y:14.17, Z:1.17 [[ 9.60824022e-01 -2.76916438e-01 -1.15967339e-02 1.11904663e+02] [ 2.76898637e-01 9.60893985e-01 -3.14548983e-03 1.41658327e+01] [ 1.20142697e-02 -1.88857615e-04 9.99927808e-01 1.16923388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.920281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.96, Y:14.18, Z:1.17 [[ 9.60622108e-01 -2.77616079e-01 -1.15964796e-02 1.11961225e+02] [ 2.77598318e-01 9.60692081e-01 -3.14642681e-03 1.41808225e+01] [ 1.20141448e-02 -1.96636086e-04 9.99927808e-01 1.17327658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.980281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:112.02, Y:14.19, Z:1.17 [[ 9.59842374e-01 -2.80300106e-01 -1.15960236e-02 1.12017739e+02] [ 2.80282520e-01 9.59912391e-01 -3.14810668e-03 1.41946363e+01] [ 1.20135814e-02 -2.28476532e-04 9.99927808e-01 1.17344786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.040281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:112.07, Y:14.20, Z:1.17 [[ 9.59277021e-01 -2.82228884e-01 -1.15954536e-02 1.12074391e+02] [ 2.82211414e-01 9.59347067e-01 -3.15020479e-03 1.42042767e+01] [ 1.20131432e-02 -2.50450280e-04 9.99927808e-01 1.17418861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.100281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:112.13, Y:14.22, Z:1.18 [[ 9.59890111e-01 -2.80136619e-01 -1.15952071e-02 1.12131709e+02] [ 2.80118985e-01 9.59960116e-01 -3.15111160e-03 1.42157865e+01] [ 1.20136782e-02 -2.23316799e-04 9.99927808e-01 1.17643503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.160281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:112.19, Y:14.23, Z:1.18 [[ 9.61037199e-01 -2.76175788e-01 -1.15946464e-02 1.12187778e+02] [ 2.76157840e-01 9.61107124e-01 -3.15317347e-03 1.42288472e+01] [ 1.20145274e-02 -1.71635515e-04 9.99927808e-01 1.17574803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.220281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:112.24, Y:14.24, Z:1.18 [[ 9.62213785e-01 -2.72048174e-01 -1.15940714e-02 1.12243958e+02] [ 2.72029901e-01 9.62283626e-01 -3.15528628e-03 1.42431695e+01] [ 1.20151750e-02 -1.17874146e-04 9.99927808e-01 1.17781147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.280281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:112.30, Y:14.26, Z:1.18 [[ 9.62571356e-01 -2.70780310e-01 -1.15935028e-02 1.12299477e+02] [ 2.70761920e-01 9.62641166e-01 -3.15737421e-03 1.42590323e+01] [ 1.20153378e-02 -9.98810986e-05 9.99927808e-01 1.17559944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.340281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:112.35, Y:14.28, Z:1.18 [[ 9.62318723e-01 -2.71676792e-01 -1.15929300e-02 1.12354185e+02] [ 2.71658441e-01 9.62388544e-01 -3.15947584e-03 1.42787301e+01] [ 1.20152593e-02 -1.08894547e-04 9.99927808e-01 1.17641091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.400281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:112.41, Y:14.30, Z:1.18 [[ 9.61041135e-01 -2.76162189e-01 -1.15923409e-02 1.12410010e+02] [ 2.76144138e-01 9.61111034e-01 -3.16163601e-03 1.42957430e+01] [ 1.20146510e-02 -1.62694721e-04 9.99927808e-01 1.18069817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.460281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:112.47, Y:14.31, Z:1.18 [[ 9.60094233e-01 -2.79436388e-01 -1.15917528e-02 1.12466272e+02] [ 2.79418550e-01 9.60164186e-01 -3.16379067e-03 1.43114318e+01] [ 1.20140641e-02 -2.01413579e-04 9.99927808e-01 1.17801937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.520281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:112.52, Y:14.32, Z:1.18 [[ 9.58493087e-01 -2.84880058e-01 -1.15911718e-02 1.12522506e+02] [ 2.84862592e-01 9.58563133e-01 -3.16591775e-03 1.43246118e+01] [ 1.20127768e-02 -2.67380966e-04 9.99927808e-01 1.18213330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.580281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:112.58, Y:14.33, Z:1.19 [[ 9.56629496e-01 -2.91076718e-01 -1.15909930e-02 1.12578322e+02] [ 2.91059697e-01 9.56699653e-01 -3.16657231e-03 1.43348146e+01] [ 1.20108145e-02 -3.44434442e-04 9.99927808e-01 1.18628921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.640281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:112.64, Y:14.35, Z:1.19 [[ 9.55954125e-01 -2.93287171e-01 -1.15907548e-02 1.12635270e+02] [ 2.93270302e-01 9.56024318e-01 -3.16744381e-03 1.43473074e+01] [ 1.20100141e-02 -3.71293204e-04 9.99927808e-01 1.18513012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.700281693 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:112.69, Y:14.35, Z:1.18 [[ 9.54833607e-01 -2.96914887e-01 -1.15902157e-02 1.12692896e+02] [ 2.96898260e-01 9.54903858e-01 -3.16941525e-03 1.43536965e+01] [ 1.20085883e-02 -4.14850696e-04 9.99927808e-01 1.18237125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.760281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:112.75, Y:14.36, Z:1.19 [[ 9.55473047e-01 -2.94850688e-01 -1.15899837e-02 1.12750591e+02] [ 2.94833899e-01 9.55543260e-01 -3.17026371e-03 1.43637723e+01] [ 1.20094852e-02 -3.88018541e-04 9.99927808e-01 1.18569856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.820281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:112.81, Y:14.37, Z:1.19 [[ 9.57845472e-01 -2.87050061e-01 -1.15893848e-02 1.12807022e+02] [ 2.87032673e-01 9.57915539e-01 -3.17245146e-03 1.43737389e+01] [ 1.20123042e-02 -2.87813834e-04 9.99927808e-01 1.18518436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.880281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:112.86, Y:14.38, Z:1.19 [[ 9.59757000e-01 -2.80592575e-01 -1.15891248e-02 1.12863811e+02] [ 2.80574705e-01 9.59826945e-01 -3.17340099e-03 1.43840319e+01] [ 1.20139870e-02 -2.05921460e-04 9.99927808e-01 1.19044799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.940281693 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:112.92, Y:14.39, Z:1.19 [[ 9.59853158e-01 -2.80263481e-01 -1.15885841e-02 1.12921189e+02] [ 2.80245564e-01 9.59923091e-01 -3.17537405e-03 1.43944897e+01] [ 1.20140909e-02 -1.99756481e-04 9.99927808e-01 1.18892095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.000281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:112.98, Y:14.41, Z:1.18 [[ 9.59422289e-01 -2.81734963e-01 -1.15880470e-02 1.12978333e+02] [ 2.81717129e-01 9.59492243e-01 -3.17733299e-03 1.44057878e+01] [ 1.20138070e-02 -2.16147247e-04 9.99927808e-01 1.18480753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06028169300001 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:113.04, Y:14.41, Z:1.19 [[ 9.59268291e-01 -2.82258879e-01 -1.15875110e-02 1.13035901e+02] [ 2.82241060e-01 9.59338249e-01 -3.17928652e-03 1.44131704e+01] [ 1.20137244e-02 -2.20682642e-04 9.99927808e-01 1.18726524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.120281693 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:113.09, Y:14.42, Z:1.19 [[ 9.60905420e-01 -2.76634265e-01 -1.15869275e-02 1.13093435e+02] [ 2.76616011e-01 9.60975266e-01 -3.18141165e-03 1.44233880e+01] [ 1.20148382e-02 -1.48093975e-04 9.99927808e-01 1.19154330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.180281693 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:113.15, Y:14.44, Z:1.19 [[ 9.63200471e-01 -2.68534168e-01 -1.15867472e-02 1.13149920e+02] [ 2.68515318e-01 9.63270159e-01 -3.18206841e-03 1.44352770e+01] [ 1.20156619e-02 -4.62493152e-05 9.99927808e-01 1.19049116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.240281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:113.21, Y:14.45, Z:1.19 [[ 9.64094080e-01 -2.65308056e-01 -1.15861758e-02 1.13205621e+02] [ 2.65288948e-01 9.64163697e-01 -3.18414754e-03 1.44485262e+01] [ 1.20157501e-02 -3.86658838e-06 9.99927808e-01 1.19315554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.300281693 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:113.26, Y:14.46, Z:1.20 [[ 9.64406869e-01 -2.64168806e-01 -1.15859281e-02 1.13261178e+02] [ 2.64149605e-01 9.64476460e-01 -3.18504848e-03 1.44618315e+01] [ 1.20157454e-02 1.12642997e-05 9.99927808e-01 1.19581768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.360281693 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:113.32, Y:14.47, Z:1.19 [[ 9.63804093e-01 -2.66359610e-01 -1.15856822e-02 1.13316419e+02] [ 2.66340556e-01 9.63873725e-01 -3.18594256e-03 1.44743661e+01] [ 1.20157411e-02 -1.51125742e-05 9.99927808e-01 1.19105687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.420281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:113.37, Y:14.49, Z:1.19 [[ 9.63691868e-01 -2.66765368e-01 -1.15854386e-02 1.13371666e+02] [ 2.66746333e-01 9.63761505e-01 -3.18682819e-03 1.44916061e+01] [ 1.20157352e-02 -1.92528529e-05 9.99927808e-01 1.18946908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.480281693 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:113.43, Y:14.51, Z:1.20 [[ 9.64681858e-01 -2.63162883e-01 -1.15848846e-02 1.13427810e+02] [ 2.63143563e-01 9.64751417e-01 -3.18884093e-03 1.45088198e+01] [ 1.20157184e-02 2.77291823e-05 9.99927808e-01 1.19502513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.540281693 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:113.48, Y:14.53, Z:1.20 [[ 9.64973789e-01 -2.62090419e-01 -1.15844056e-02 1.13482021e+02] [ 2.62071001e-01 9.65043321e-01 -3.19058029e-03 1.45283927e+01] [ 1.20156737e-02 4.28895951e-05 9.99927808e-01 1.19831837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.600281693 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:113.54, Y:14.54, Z:1.20 [[ 9.64497036e-01 -2.63839504e-01 -1.15837945e-02 1.13537447e+02] [ 2.63820185e-01 9.64566595e-01 -3.19279732e-03 1.45416963e+01] [ 1.20157273e-02 2.34047449e-05 9.99927808e-01 1.19566005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.660281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:113.59, Y:14.56, Z:1.20 [[ 9.63743162e-01 -2.66580081e-01 -1.15835301e-02 1.13593984e+02] [ 2.66560949e-01 9.63812772e-01 -3.19375609e-03 1.45557382e+01] [ 1.20157460e-02 -9.75619375e-06 9.99927808e-01 1.19766011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.720281693 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:113.65, Y:14.57, Z:1.20 [[ 9.63775927e-01 -2.66461625e-01 -1.15829264e-02 1.13649821e+02] [ 2.66442458e-01 9.63845528e-01 -3.19594406e-03 1.45662495e+01] [ 1.20157483e-02 -6.00943714e-06 9.99927808e-01 1.19729902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.780281693 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:113.71, Y:14.58, Z:1.20 [[ 9.64673458e-01 -2.63193773e-01 -1.15826656e-02 1.13706438e+02] [ 2.63174359e-01 9.64742990e-01 -3.19688910e-03 1.45759294e+01] [ 1.20156967e-02 3.56934669e-05 9.99927808e-01 1.19967906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.840281693 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:113.76, Y:14.59, Z:1.20 [[ 9.65325113e-01 -2.60793548e-01 -1.15824086e-02 1.13763260e+02] [ 2.60773950e-01 9.65394593e-01 -3.19782002e-03 1.45863072e+01] [ 1.20155654e-02 6.65455397e-05 9.99927808e-01 1.19807962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.900281693 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:113.82, Y:14.60, Z:1.20 [[ 9.65677244e-01 -2.59486652e-01 -1.15818077e-02 1.13819641e+02] [ 2.59466934e-01 9.65746690e-01 -3.19999493e-03 1.45979045e+01] [ 1.20154484e-02 8.50661639e-05 9.99927808e-01 1.19500408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.960281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:113.88, Y:14.61, Z:1.20 [[ 9.66296178e-01 -2.57172244e-01 -1.15816228e-02 1.13875409e+02] [ 2.57152351e-01 9.66365575e-01 -3.20066393e-03 1.46143014e+01] [ 1.20152035e-02 1.14547786e-04 9.99927808e-01 1.19977552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.020281693 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:113.93, Y:14.63, Z:1.20 [[ 9.67400336e-01 -2.52987094e-01 -1.15810401e-02 1.13930685e+02] [ 2.52966876e-01 9.67469639e-01 -3.20277103e-03 1.46325290e+01] [ 1.20145644e-02 1.68742239e-04 9.99927808e-01 1.20305164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.080281693 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:113.99, Y:14.65, Z:1.21 [[ 9.68339725e-01 -2.49367341e-01 -1.15804619e-02 1.13985203e+02] [ 2.49346839e-01 9.68408944e-01 -3.20486021e-03 1.46526225e+01] [ 1.20138103e-02 2.15841888e-04 9.99927808e-01 1.20526360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.140281693 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:114.04, Y:14.67, Z:1.20 [[ 9.68698084e-01 -2.47971631e-01 -1.15798563e-02 1.14038814e+02] [ 2.47951003e-01 9.68767266e-01 -3.20704688e-03 1.46722858e+01] [ 1.20134423e-02 2.35423184e-04 9.99927808e-01 1.20192051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.200281693 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:114.09, Y:14.69, Z:1.20 [[ 9.68642022e-01 -2.48190545e-01 -1.15795948e-02 1.14093506e+02] [ 2.48169922e-01 9.68711205e-01 -3.20799056e-03 1.46938435e+01] [ 1.20134762e-02 2.33687322e-04 9.99927808e-01 1.20110059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.260281693 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:114.15, Y:14.71, Z:1.21 [[ 9.67934845e-01 -2.50934381e-01 -1.15789975e-02 1.14148326e+02] [ 2.50913928e-01 9.68004078e-01 -3.21014527e-03 1.47123837e+01] [ 1.20140526e-02 2.01879726e-04 9.99927808e-01 1.20500859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.320281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:114.20, Y:14.73, Z:1.21 [[ 9.66982054e-01 -2.54581298e-01 -1.15788130e-02 1.14203950e+02] [ 2.54561099e-01 9.67051363e-01 -3.21081062e-03 1.47289052e+01] [ 1.20147192e-02 1.57280901e-04 9.99927808e-01 1.20866280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.380281693 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:114.26, Y:14.74, Z:1.21 [[ 9.65708606e-01 -2.59370068e-01 -1.15782275e-02 1.14258311e+02] [ 2.59350186e-01 9.65778007e-01 -3.21292054e-03 1.47444380e+01] [ 1.20153329e-02 9.99295652e-05 9.99927808e-01 1.21110737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.440281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:114.31, Y:14.76, Z:1.21 [[ 9.65463141e-01 -2.60282295e-01 -1.15779734e-02 1.14313998e+02] [ 2.60262469e-01 9.65532557e-01 -3.21383591e-03 1.47611969e+01] [ 1.20154148e-02 8.95281811e-05 9.99927808e-01 1.20775554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.500281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:114.37, Y:14.78, Z:1.21 [[ 9.65368308e-01 -2.60633830e-01 -1.15773935e-02 1.14369335e+02] [ 2.60614003e-01 9.65437724e-01 -3.21592355e-03 1.47775070e+01] [ 1.20154309e-02 8.73198109e-05 9.99927808e-01 1.20678315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56028169300001 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:114.42, Y:14.80, Z:1.21 [[ 9.65310446e-01 -2.60848077e-01 -1.15768193e-02 1.14424224e+02] [ 2.60828241e-01 9.65379860e-01 -3.21798927e-03 1.47954852e+01] [ 1.20154345e-02 8.67972460e-05 9.99927808e-01 1.20979816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.620281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:114.48, Y:14.82, Z:1.21 [[ 9.65466655e-01 -2.60269339e-01 -1.15762481e-02 1.14478276e+02] [ 2.60249437e-01 9.65536049e-01 -3.22004264e-03 1.48153211e+01] [ 1.20153632e-02 9.61317386e-05 9.99927808e-01 1.20850235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.680281693 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:114.53, Y:14.84, Z:1.21 [[ 9.65598240e-01 -2.59780745e-01 -1.15760007e-02 1.14533216e+02] [ 2.59760797e-01 9.65667621e-01 -3.22093177e-03 1.48360328e+01] [ 1.20153051e-02 1.03134867e-04 9.99927808e-01 1.20633945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.740281693 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:114.59, Y:14.86, Z:1.21 [[ 9.65880531e-01 -2.58729221e-01 -1.15754386e-02 1.14586654e+02] [ 2.58709174e-01 9.65949883e-01 -3.22295080e-03 1.48597978e+01] [ 1.20151651e-02 1.18313280e-04 9.99927808e-01 1.21135324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.800281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:114.64, Y:14.88, Z:1.21 [[ 9.66205407e-01 -2.57513350e-01 -1.15752648e-02 1.14640654e+02] [ 2.57493208e-01 9.66274731e-01 -3.22357485e-03 1.48811758e+01] [ 1.20149994e-02 1.34083392e-04 9.99927808e-01 1.21358586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.860281693 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:114.69, Y:14.90, Z:1.21 [[ 9.66276735e-01 -2.57245597e-01 -1.15746808e-02 1.14694560e+02] [ 2.57225411e-01 9.66346047e-01 -3.22567021e-03 1.49048434e+01] [ 1.20149365e-02 1.39588044e-04 9.99927808e-01 1.21248035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.920281693 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:114.75, Y:14.93, Z:1.21 [[ 9.66046085e-01 -2.58110445e-01 -1.15740997e-02 1.14747151e+02] [ 2.58090295e-01 9.66115408e-01 -3.22775399e-03 1.49279920e+01] [ 1.20150331e-02 1.30996291e-04 9.99927808e-01 1.21218801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.980281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:114.80, Y:14.95, Z:1.22 [[ 9.65812940e-01 -2.58981487e-01 -1.15738475e-02 1.14800948e+02] [ 2.58961389e-01 9.65882278e-01 -3.22865806e-03 1.49506918e+01] [ 1.20151369e-02 1.21100103e-04 9.99927808e-01 1.21632338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.040281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:114.86, Y:14.97, Z:1.22 [[ 9.65617192e-01 -2.59710410e-01 -1.15732822e-02 1.14855918e+02] [ 2.59690340e-01 9.65686538e-01 -3.23068315e-03 1.49712225e+01] [ 1.20152049e-02 1.14133595e-04 9.99927808e-01 1.21528886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.100281693 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:114.91, Y:14.99, Z:1.21 [[ 9.65395831e-01 -2.60532076e-01 -1.15726784e-02 1.14910267e+02] [ 2.60512039e-01 9.65465186e-01 -3.23284471e-03 1.49936774e+01] [ 1.20152778e-02 1.06152767e-04 9.99927808e-01 1.21340994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.160281693 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:114.96, Y:15.02, Z:1.21 [[ 9.64866462e-01 -2.62485803e-01 -1.15720798e-02 1.14962836e+02] [ 2.62465881e-01 9.64935851e-01 -3.23498587e-03 1.50160764e+01] [ 1.20154525e-02 8.40532439e-05 9.99927808e-01 1.21461237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.220281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:115.02, Y:15.03, Z:1.21 [[ 9.63927470e-01 -2.65913378e-01 -1.15718204e-02 1.15018011e+02] [ 2.65893692e-01 9.63996926e-01 -3.23591350e-03 1.50349560e+01] [ 1.20156720e-02 4.23118635e-05 9.99927808e-01 1.21469679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.280281693 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:115.07, Y:15.05, Z:1.21 [[ 9.61709482e-01 -2.73826550e-01 -1.15712337e-02 1.15071897e+02] [ 2.73807410e-01 9.61779090e-01 -3.23801004e-03 1.50532738e+01] [ 1.20156238e-02 -5.42645752e-05 9.99927808e-01 1.21445621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.340281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:115.13, Y:15.07, Z:1.22 [[ 9.59274881e-01 -2.82237162e-01 -1.15709811e-02 1.15127990e+02] [ 2.82218621e-01 9.59344651e-01 -3.23891241e-03 1.50692256e+01] [ 1.20147003e-02 -1.58539036e-04 9.99927808e-01 1.21699599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.400281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:115.18, Y:15.08, Z:1.22 [[ 9.57935068e-01 -2.86751691e-01 -1.15703787e-02 1.15183103e+02] [ 2.86733454e-01 9.58004918e-01 -3.24106309e-03 1.50844895e+01] [ 1.20138600e-02 -2.12886650e-04 9.99927808e-01 1.21658577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.460281693 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:115.24, Y:15.10, Z:1.22 [[ 9.57350863e-01 -2.88696134e-01 -1.15701175e-02 1.15239658e+02] [ 2.88678027e-01 9.57420747e-01 -3.24199523e-03 1.50984988e+01] [ 1.20134220e-02 -2.36311766e-04 9.99927808e-01 1.21676215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.520281693 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:115.29, Y:15.11, Z:1.22 [[ 9.57420565e-01 -2.88464917e-01 -1.15695304e-02 1.15294322e+02] [ 2.88446767e-01 9.57490438e-01 -3.24408899e-03 1.51140804e+01] [ 1.20135206e-02 -2.31236134e-04 9.99927808e-01 1.21790877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.580281693 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:115.35, Y:15.13, Z:1.22 [[ 9.57231489e-01 -2.89091731e-01 -1.15692765e-02 1.15350512e+02] [ 2.89073616e-01 9.57301371e-01 -3.24499430e-03 1.51282113e+01] [ 1.20133853e-02 -2.38161870e-04 9.99927808e-01 1.22292418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.640281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:115.41, Y:15.14, Z:1.22 [[ 9.56948999e-01 -2.90025477e-01 -1.15687316e-02 1.15407200e+02] [ 2.90007407e-01 9.57018893e-01 -3.24693558e-03 1.51424473e+01] [ 1.20131888e-02 -2.47866115e-04 9.99927808e-01 1.22056600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.700281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:115.46, Y:15.16, Z:1.22 [[ 9.57898093e-01 -2.86875272e-01 -1.15681602e-02 1.15463002e+02] [ 2.86856948e-01 9.57967920e-01 -3.24897028e-03 1.51597243e+01] [ 1.20139756e-02 -2.06224686e-04 9.99927808e-01 1.21929627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.760281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:115.52, Y:15.18, Z:1.22 [[ 9.58819383e-01 -2.83780872e-01 -1.15675507e-02 1.15517346e+02] [ 2.83762296e-01 9.58889143e-01 -3.25113898e-03 1.51769816e+01] [ 1.20146098e-02 -1.65179663e-04 9.99927808e-01 1.21993576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.820281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:115.57, Y:15.20, Z:1.22 [[ 9.59980473e-01 -2.79827963e-01 -1.15672860e-02 1.15572637e+02] [ 2.79809089e-01 9.60050154e-01 -3.25208031e-03 1.51954067e+01] [ 1.20151977e-02 -1.14698158e-04 9.99927808e-01 1.22052314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.880281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:115.63, Y:15.21, Z:1.22 [[ 9.60429859e-01 -2.78281688e-01 -1.15666784e-02 1.15627513e+02] [ 2.78262675e-01 9.60499502e-01 -3.25423990e-03 1.52127419e+01] [ 1.20153842e-02 -9.31057115e-05 9.99927808e-01 1.22076347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.940281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:115.68, Y:15.23, Z:1.22 [[ 9.60824140e-01 -2.76917314e-01 -1.15660733e-02 1.15682832e+02] [ 2.76898176e-01 9.60893749e-01 -3.25638908e-03 1.52302452e+01] [ 1.20155181e-02 -7.38073688e-05 9.99927808e-01 1.22319935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.000281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:115.74, Y:15.25, Z:1.22 [[ 9.60435951e-01 -2.78260711e-01 -1.15654711e-02 1.15738339e+02] [ 2.78241646e-01 9.60505580e-01 -3.25852643e-03 1.52462062e+01] [ 1.20154194e-02 -8.83897865e-05 9.99927808e-01 1.22475578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06028169300001 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:115.79, Y:15.26, Z:1.23 [[ 9.59200206e-01 -2.82491094e-01 -1.15648706e-02 1.15794344e+02] [ 2.82472309e-01 9.59269911e-01 -3.26065650e-03 1.52600710e+01] [ 1.20149388e-02 -1.39133310e-04 9.99927808e-01 1.22578813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.120281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:115.85, Y:15.27, Z:1.23 [[ 9.57167161e-01 -2.89304847e-01 -1.15642617e-02 1.15850641e+02] [ 2.89286533e-01 9.57236991e-01 -3.26281457e-03 1.52731308e+01] [ 1.20136871e-02 -2.22326206e-04 9.99927808e-01 1.22677733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.180281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:115.91, Y:15.29, Z:1.23 [[ 9.56439649e-01 -2.91701010e-01 -1.15636516e-02 1.15905867e+02] [ 2.91682844e-01 9.56509518e-01 -3.26497516e-03 1.52858912e+01] [ 1.20131394e-02 -2.50167100e-04 9.99927808e-01 1.22798592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.240281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:115.96, Y:15.30, Z:1.23 [[ 9.56789168e-01 -2.90552535e-01 -1.15633882e-02 1.15960748e+02] [ 2.90534274e-01 9.56859012e-01 -3.26590789e-03 1.53032095e+01] [ 1.20134500e-02 -2.34775308e-04 9.99927808e-01 1.22573205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.300281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:116.02, Y:15.32, Z:1.23 [[ 9.57268468e-01 -2.88969519e-01 -1.15627932e-02 1.16015343e+02] [ 2.88951117e-01 9.57338275e-01 -3.26801317e-03 1.53220516e+01] [ 1.20138607e-02 -2.12716055e-04 9.99927808e-01 1.22936134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.360281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:116.07, Y:15.34, Z:1.23 [[ 9.56993373e-01 -2.89879284e-01 -1.15621866e-02 1.16069233e+02] [ 2.89860923e-01 9.57063191e-01 -3.27015782e-03 1.53397272e+01] [ 1.20136942e-02 -2.21906717e-04 9.99927808e-01 1.22799689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.420281693 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:116.12, Y:15.36, Z:1.23 [[ 9.55374770e-01 -2.95170071e-01 -1.15619238e-02 1.16124720e+02] [ 2.95152086e-01 9.55444685e-01 -3.27108685e-03 1.53560586e+01] [ 1.20123056e-02 -2.87412070e-04 9.99927808e-01 1.23227764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.480281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:116.18, Y:15.37, Z:1.23 [[ 9.53479990e-01 -3.01234533e-01 -1.15613183e-02 1.16181000e+02] [ 3.01216966e-01 9.53550012e-01 -3.27322532e-03 1.53704036e+01] [ 1.20103037e-02 -3.61510389e-04 9.99927808e-01 1.22702835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.540281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:116.24, Y:15.38, Z:1.23 [[ 9.51600365e-01 -3.07120654e-01 -1.15607186e-02 1.16237551e+02] [ 3.07103494e-01 9.51670487e-01 -3.27534227e-03 1.53815525e+01] [ 1.20079199e-02 -4.33520165e-04 9.99927808e-01 1.23010649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.600281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:116.30, Y:15.38, Z:1.23 [[ 9.48907135e-01 -3.15343628e-01 -1.15605339e-02 1.16296504e+02] [ 3.15327068e-01 9.48977401e-01 -3.27599398e-03 1.53846181e+01] [ 1.20037492e-02 -5.36735193e-04 9.99927808e-01 1.22971099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.660281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:116.36, Y:15.39, Z:1.23 [[ 9.48282223e-01 -3.17217895e-01 -1.15599747e-02 1.16356105e+02] [ 3.17201450e-01 9.48352516e-01 -3.27796597e-03 1.53861652e+01] [ 1.20027606e-02 -5.58403879e-04 9.99927808e-01 1.22922011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.720281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:116.41, Y:15.39, Z:1.23 [[ 9.49901434e-01 -3.12335791e-01 -1.15593961e-02 1.16414703e+02] [ 3.12318959e-01 9.49971636e-01 -3.28000504e-03 1.53925640e+01] [ 1.20055614e-02 -4.94537070e-04 9.99927808e-01 1.23379536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.780281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:116.47, Y:15.40, Z:1.24 [[ 9.53443448e-01 -3.01350272e-01 -1.15587882e-02 1.16472514e+02] [ 3.01332605e-01 9.53513444e-01 -3.28214597e-03 1.53956876e+01] [ 1.20105355e-02 -3.53699184e-04 9.99927808e-01 1.24122576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.840281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.53, Y:15.40, Z:1.24 [[ 9.56259399e-01 -2.92291571e-01 -1.15585241e-02 1.16531174e+02] [ 2.92273230e-01 9.56329222e-01 -3.28307585e-03 1.53997550e+01] [ 1.20133697e-02 -2.38775018e-04 9.99927808e-01 1.23753931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.900281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:116.59, Y:15.41, Z:1.24 [[ 9.58080624e-01 -2.86265492e-01 -1.15579380e-02 1.16587942e+02] [ 2.86246687e-01 9.58150323e-01 -3.28513788e-03 1.54124705e+01] [ 1.20146636e-02 -1.60994500e-04 9.99927808e-01 1.23571451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.960281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:116.64, Y:15.43, Z:1.24 [[ 9.61102336e-01 -2.75950590e-01 -1.15573290e-02 1.16642921e+02] [ 2.75931011e-01 9.61171822e-01 -3.28727905e-03 1.54294586e+01] [ 1.20157055e-02 -2.96138964e-05 9.99927808e-01 1.23552700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.020281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:116.70, Y:15.45, Z:1.23 [[ 9.62354912e-01 -2.71550117e-01 -1.15567230e-02 1.16697225e+02] [ 2.71530195e-01 9.62424300e-01 -3.28940795e-03 1.54455482e+01] [ 1.20157102e-02 2.75786520e-05 9.99927808e-01 1.23475588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.080281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:116.75, Y:15.46, Z:1.24 [[ 9.62195777e-01 -2.72113461e-01 -1.15564598e-02 1.16753174e+02] [ 2.72093569e-01 9.62265173e-01 -3.29033249e-03 1.54609433e+01] [ 1.20157225e-02 2.15056436e-05 9.99927808e-01 1.23621520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.140281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:116.81, Y:15.48, Z:1.23 [[ 9.62644224e-01 -2.70522752e-01 -1.15558604e-02 1.16807987e+02] [ 2.70502719e-01 9.62713581e-01 -3.29243616e-03 1.54795295e+01] [ 1.20156626e-02 4.35529924e-05 9.99927808e-01 1.23476958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.200281693 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:116.86, Y:15.50, Z:1.24 [[ 9.63321540e-01 -2.68100889e-01 -1.15552657e-02 1.16863143e+02] [ 2.68080657e-01 9.63390838e-01 -3.29452194e-03 1.54969663e+01] [ 1.20155014e-02 7.59407137e-05 9.99927808e-01 1.23608916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.260281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:116.92, Y:15.51, Z:1.24 [[ 9.63292518e-01 -2.68205172e-01 -1.15546726e-02 1.16919000e+02] [ 2.68184923e-01 9.63361811e-01 -3.29660076e-03 1.55137297e+01] [ 1.20154957e-02 7.68018640e-05 9.99927808e-01 1.23780267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.320281693 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:116.97, Y:15.53, Z:1.24 [[ 9.62266719e-01 -2.71862586e-01 -1.15540370e-02 1.16974436e+02] [ 2.71842573e-01 9.62336081e-01 -3.29882709e-03 1.55296400e+01] [ 1.20156943e-02 3.34723684e-05 9.99927808e-01 1.23613955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.380281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:117.03, Y:15.55, Z:1.24 [[ 9.61847164e-01 -2.73343287e-01 -1.15533889e-02 1.17028286e+02] [ 2.73323354e-01 9.61916549e-01 -3.30109540e-03 1.55465922e+01] [ 1.20157282e-02 1.73382551e-05 9.99927808e-01 1.24072792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.440281693 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:117.08, Y:15.56, Z:1.24 [[ 9.62103836e-01 -2.72438505e-01 -1.15528874e-02 1.17083809e+02] [ 2.72418486e-01 9.62173196e-01 -3.30284956e-03 1.55639128e+01] [ 1.20157020e-02 3.04641435e-05 9.99927808e-01 1.24126526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.500281693 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:117.14, Y:15.58, Z:1.24 [[ 9.63116272e-01 -2.68837483e-01 -1.15522684e-02 1.17137489e+02] [ 2.68817178e-01 9.63185549e-01 -3.30501310e-03 1.55835858e+01] [ 1.20154894e-02 7.76637082e-05 9.99927808e-01 1.24088494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56028169300001 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:117.19, Y:15.60, Z:1.24 [[ 9.64022118e-01 -2.65570907e-01 -1.15520004e-02 1.17192051e+02] [ 2.65550356e-01 9.64091323e-01 -3.30594954e-03 1.56013494e+01] [ 1.20151474e-02 1.19370659e-04 9.99927808e-01 1.24282620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.620281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:117.25, Y:15.62, Z:1.24 [[ 9.63959559e-01 -2.65797906e-01 -1.15517371e-02 1.17247902e+02] [ 2.65777360e-01 9.64028765e-01 -3.30686943e-03 1.56184949e+01] [ 1.20151658e-02 1.17498216e-04 9.99927808e-01 1.24072593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.680281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:117.30, Y:15.63, Z:1.24 [[ 9.63538719e-01 -2.67319488e-01 -1.15511097e-02 1.17302527e+02] [ 2.67299025e-01 9.63607950e-01 -3.30905930e-03 1.56333028e+01] [ 1.20153172e-02 1.00806382e-04 9.99927808e-01 1.24431079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.740281693 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:117.36, Y:15.65, Z:1.25 [[ 9.63816159e-01 -2.66317462e-01 -1.15508386e-02 1.17357466e+02] [ 2.66296916e-01 9.63885365e-01 -3.31000543e-03 1.56531851e+01] [ 1.20151965e-02 1.14284011e-04 9.99927808e-01 1.24630503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.800281693 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:117.41, Y:15.67, Z:1.24 [[ 9.63932381e-01 -2.65896516e-01 -1.15502292e-02 1.17412577e+02] [ 2.65875914e-01 9.64001571e-01 -3.31213059e-03 1.56721148e+01] [ 1.20151231e-02 1.21742170e-04 9.99927808e-01 1.24460572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.860281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:117.47, Y:15.69, Z:1.25 [[ 9.63470153e-01 -2.67566573e-01 -1.15495930e-02 1.17467577e+02] [ 2.67546065e-01 9.63539370e-01 -3.31434752e-03 1.56923038e+01] [ 1.20152962e-02 1.03226745e-04 9.99927808e-01 1.24614028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.920281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:117.52, Y:15.71, Z:1.25 [[ 9.62319930e-01 -2.71674390e-01 -1.15489574e-02 1.17520987e+02] [ 2.71654151e-01 9.62389226e-01 -3.31656102e-03 1.57141486e+01] [ 1.20156168e-02 5.42705569e-05 9.99927808e-01 1.24876436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.980281693 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:117.58, Y:15.74, Z:1.25 [[ 9.60866474e-01 -2.76771116e-01 -1.15485288e-02 1.17575277e+02] [ 2.76751227e-01 9.60935871e-01 -3.31805279e-03 1.57358134e+01] [ 1.20157367e-02 -7.86381814e-06 9.99927808e-01 1.25283367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.040281693 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:117.63, Y:15.75, Z:1.25 [[ 9.59820445e-01 -2.80377173e-01 -1.15479017e-02 1.17629748e+02] [ 2.80357518e-01 9.59889910e-01 -3.32023379e-03 1.57545311e+01] [ 1.20156321e-02 -5.07127808e-05 9.99927808e-01 1.25019098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.100281693 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:117.69, Y:15.77, Z:1.25 [[ 9.58692369e-01 -2.84210489e-01 -1.15472792e-02 1.17685425e+02] [ 2.84191086e-01 9.58761904e-01 -3.32239746e-03 1.57703382e+01] [ 1.20153516e-02 -9.64767097e-05 9.99927808e-01 1.24859613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.160281693 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:117.74, Y:15.78, Z:1.25 [[ 9.56939028e-01 -2.90059254e-01 -1.15466562e-02 1.17740885e+02] [ 2.90040249e-01 9.57008674e-01 -3.32456102e-03 1.57838805e+01] [ 1.20145698e-02 -1.67592852e-04 9.99927808e-01 1.25304242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.220281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:117.80, Y:15.79, Z:1.25 [[ 9.56241398e-01 -2.92350936e-01 -1.15463873e-02 1.17798250e+02] [ 2.92332087e-01 9.56311085e-01 -3.32549478e-03 1.57944371e+01] [ 1.20141497e-02 -1.95403710e-04 9.99927808e-01 1.25296159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.280281693 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:117.85, Y:15.81, Z:1.25 [[ 9.56540894e-01 -2.91369546e-01 -1.15457706e-02 1.17853741e+02] [ 2.91350600e-01 9.56610556e-01 -3.32763450e-03 1.58071640e+01] [ 1.20143774e-02 -1.80848700e-04 9.99927808e-01 1.25359047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.340281693 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:117.91, Y:15.82, Z:1.25 [[ 9.58283953e-01 -2.85584607e-01 -1.15455028e-02 1.17909440e+02] [ 2.85565229e-01 9.58353495e-01 -3.32856327e-03 1.58217127e+01] [ 1.20152594e-02 -1.07285382e-04 9.99927808e-01 1.24908980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.400281693 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:117.96, Y:15.84, Z:1.25 [[ 9.58880530e-01 -2.83575112e-01 -1.15449010e-02 1.17964908e+02] [ 2.83555563e-01 9.58950025e-01 -3.33064930e-03 1.58386248e+01] [ 1.20154724e-02 -7.99261348e-05 9.99927808e-01 1.24897814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.460281693 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:118.02, Y:15.85, Z:1.25 [[ 9.59923204e-01 -2.80025306e-01 -1.15442951e-02 1.18020187e+02] [ 2.80005475e-01 9.59992618e-01 -3.33274823e-03 1.58545552e+01] [ 1.20156919e-02 -3.32834652e-05 9.99927808e-01 1.25217638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.520281693 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:118.07, Y:15.87, Z:1.26 [[ 9.60650448e-01 -2.77520199e-01 -1.15436898e-02 1.18074570e+02] [ 2.77500161e-01 9.60719803e-01 -3.33484341e-03 1.58726721e+01] [ 1.20157378e-02 2.43035416e-07 9.99927808e-01 1.25872393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.580281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:118.13, Y:15.89, Z:1.26 [[ 9.62350379e-01 -2.71566744e-01 -1.15434280e-02 1.18128805e+02] [ 2.71546267e-01 9.62419606e-01 -3.33574950e-03 1.58922231e+01] [ 1.20155000e-02 7.55850283e-05 9.99927808e-01 1.25710873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.640281693 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:118.18, Y:15.91, Z:1.26 [[ 9.63536887e-01 -2.67326450e-01 -1.15428143e-02 1.18181925e+02] [ 2.67305642e-01 9.63606015e-01 -3.33787177e-03 1.59130120e+01] [ 1.20150267e-02 1.30703195e-04 9.99927808e-01 1.25503696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.700281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:118.24, Y:15.94, Z:1.26 [[ 9.65052957e-01 -2.61800610e-01 -1.15425479e-02 1.18236042e+02] [ 2.61779396e-01 9.65121961e-01 -3.33879253e-03 1.59353346e+01] [ 1.20140644e-02 2.00510378e-04 9.99927808e-01 1.25997304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.760281693 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:118.29, Y:15.96, Z:1.26 [[ 9.65162206e-01 -2.61397589e-01 -1.15419638e-02 1.18288476e+02] [ 2.61376322e-01 9.65231194e-01 -3.34081045e-03 1.59583059e+01] [ 1.20139433e-02 2.07627929e-04 9.99927808e-01 1.26106530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.820281693 meters Centerline goodness : 0.999320 with order 1 Centerline is valid? [True, True] Translation: X:118.34, Y:15.98, Z:1.26 [[ 9.64540545e-01 -2.63682243e-01 -1.15417118e-02 1.18341920e+02] [ 2.63661129e-01 9.64609580e-01 -3.34168089e-03 1.59837454e+01] [ 1.20143877e-02 1.80085946e-04 9.99927808e-01 1.25878911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.880281693 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:118.39, Y:16.01, Z:1.26 [[ 9.64459619e-01 -2.63978115e-01 -1.15411389e-02 1.18394929e+02] [ 2.63956999e-01 9.64528653e-01 -3.34365845e-03 1.60080495e+01] [ 1.20144118e-02 1.78459172e-04 9.99927808e-01 1.25590355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.940281693 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:118.45, Y:16.04, Z:1.26 [[ 9.64349450e-01 -2.64380322e-01 -1.15405693e-02 1.18446840e+02] [ 2.64359210e-01 9.64418485e-01 -3.34562334e-03 1.60364788e+01] [ 1.20144553e-02 1.75494249e-04 9.99927808e-01 1.25864919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.000281693 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:118.50, Y:16.06, Z:1.26 [[ 9.63607057e-01 -2.67073530e-01 -1.15399259e-02 1.18498181e+02] [ 2.67052585e-01 9.63676143e-01 -3.34784082e-03 1.60635698e+01] [ 1.20148710e-02 1.44235990e-04 9.99927808e-01 1.26024199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.060281693 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:118.55, Y:16.09, Z:1.26 [[ 9.61415395e-01 -2.74858644e-01 -1.15396473e-02 1.18551670e+02] [ 2.74838247e-01 9.61484646e-01 -3.34880116e-03 1.60868876e+01] [ 1.20156406e-02 4.80525728e-05 9.99927808e-01 1.26097290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.120281693 meters Centerline goodness : 0.999280 with order 1 Centerline is valid? [True, True] Translation: X:118.61, Y:16.10, Z:1.26 [[ 9.59828073e-01 -2.80351425e-01 -1.15390446e-02 1.18606883e+02] [ 2.80331399e-01 9.59897431e-01 -3.35087652e-03 1.61039182e+01] [ 1.20157223e-02 -1.84911557e-05 9.99927808e-01 1.25967510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.180281693 meters Centerline goodness : 0.999298 with order 1 Centerline is valid? [True, True] Translation: X:118.66, Y:16.12, Z:1.26 [[ 9.58889883e-01 -2.83543749e-01 -1.15384451e-02 1.18661949e+02] [ 2.83523929e-01 9.58959300e-01 -3.35293937e-03 1.61205243e+01] [ 1.20156043e-02 -5.63256568e-05 9.99927808e-01 1.26433798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24028169300001 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:118.72, Y:16.14, Z:1.27 [[ 9.59751247e-01 -2.80614366e-01 -1.15378406e-02 1.18717402e+02] [ 2.80594310e-01 9.59820596e-01 -3.35501842e-03 1.61379339e+01] [ 1.20157234e-02 -1.74693081e-05 9.99927808e-01 1.26509507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.300281693 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:118.77, Y:16.15, Z:1.27 [[ 9.59442928e-01 -2.81666753e-01 -1.15372338e-02 1.18772501e+02] [ 2.81646748e-01 9.59512292e-01 -3.35710372e-03 1.61539685e+01] [ 1.20157022e-02 -2.84749527e-05 9.99927808e-01 1.26737533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.360281693 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:118.83, Y:16.17, Z:1.27 [[ 9.57921823e-01 -2.86797279e-01 -1.15369715e-02 1.18828760e+02] [ 2.86777634e-01 9.57991290e-01 -3.35800491e-03 1.61664544e+01] [ 1.20153849e-02 -9.18392088e-05 9.99927808e-01 1.27052675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.420281693 meters Centerline goodness : 0.999300 with order 1 Centerline is valid? [True, True] Translation: X:118.89, Y:16.18, Z:1.27 [[ 9.55319905e-01 -2.95348591e-01 -1.15363766e-02 1.18887131e+02] [ 2.95329544e-01 9.55389539e-01 -3.36004743e-03 1.61754685e+01] [ 1.20141188e-02 -1.97112647e-04 9.99927808e-01 1.26530540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.480281693 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:118.94, Y:16.18, Z:1.26 [[ 9.54535954e-01 -2.97872517e-01 -1.15358605e-02 1.18943642e+02] [ 2.97853632e-01 9.54605632e-01 -3.36181844e-03 1.61842455e+01] [ 1.20135907e-02 -2.27021379e-04 9.99927808e-01 1.26356068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.540281693 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:119.00, Y:16.19, Z:1.27 [[ 9.55037841e-01 -2.96259440e-01 -1.15354621e-02 1.19000813e+02] [ 2.96240421e-01 9.55107482e-01 -3.36318482e-03 1.61948421e+01] [ 1.20139814e-02 -2.05301379e-04 9.99927808e-01 1.26566678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.600281693 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:119.06, Y:16.20, Z:1.26 [[ 9.56529431e-01 -2.91407609e-01 -1.15348802e-02 1.19058549e+02] [ 2.91388212e-01 9.56598968e-01 -3.36517955e-03 1.62029876e+01] [ 1.20148934e-02 -1.42234827e-04 9.99927808e-01 1.26246165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.660281693 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:119.12, Y:16.21, Z:1.26 [[ 9.57755871e-01 -2.87351093e-01 -1.15342970e-02 1.19116173e+02] [ 2.87331378e-01 9.57825319e-01 -3.36717718e-03 1.62125976e+01] [ 1.20154038e-02 -8.92317386e-05 9.99927808e-01 1.26263658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.720281693 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:119.17, Y:16.23, Z:1.26 [[ 9.59350119e-01 -2.81982842e-01 -1.15337184e-02 1.19172671e+02] [ 2.81962715e-01 9.59419448e-01 -3.36915803e-03 1.62264778e+01] [ 1.20157185e-02 -1.98763934e-05 9.99927808e-01 1.26448297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.780281693 meters Centerline goodness : 0.999400 with order 1 Centerline is valid? [True, True] Translation: X:119.23, Y:16.25, Z:1.27 [[ 9.60810448e-01 -2.76966188e-01 -1.15331323e-02 1.19227224e+02] [ 2.76945674e-01 9.60879664e-01 -3.37116300e-03 1.62450673e+01] [ 1.20156505e-02 4.49975245e-05 9.99927808e-01 1.26838114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.840281693 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:119.28, Y:16.27, Z:1.27 [[ 9.62896505e-01 -2.69624408e-01 -1.15325483e-02 1.19279449e+02] [ 2.69603343e-01 9.62965555e-01 -3.37315958e-03 1.62684791e+01] [ 1.20149330e-02 1.38789985e-04 9.99927808e-01 1.27486751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.900281693 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:119.33, Y:16.29, Z:1.28 [[ 9.63656459e-01 -2.66895551e-01 -1.15322949e-02 1.19331902e+02] [ 2.66874280e-01 9.63725446e-01 -3.37402575e-03 1.62943315e+01] [ 1.20144785e-02 1.73728802e-04 9.99927808e-01 1.27579433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.960281693 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:119.39, Y:16.32, Z:1.28 [[ 9.63322554e-01 -2.68098258e-01 -1.15317056e-02 1.19385455e+02] [ 2.68077049e-01 9.63391560e-01 -3.37603882e-03 1.63174026e+01] [ 1.20146580e-02 1.60828748e-04 9.99927808e-01 1.27640588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.020281693 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:119.44, Y:16.34, Z:1.27 [[ 9.62577454e-01 -2.70761298e-01 -1.15310435e-02 1.19437480e+02] [ 2.70740253e-01 9.62646510e-01 -3.37829852e-03 1.63443870e+01] [ 1.20150313e-02 1.29956339e-04 9.99927808e-01 1.27438156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.080281693 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:119.49, Y:16.37, Z:1.27 [[ 9.61379599e-01 -2.74984192e-01 -1.15308394e-02 1.19491371e+02] [ 2.74963442e-01 9.61448744e-01 -3.37899513e-03 1.63684961e+01] [ 1.20154813e-02 7.79376928e-05 9.99927808e-01 1.27008616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.140281693 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:119.54, Y:16.39, Z:1.27 [[ 9.59376186e-01 -2.81894283e-01 -1.15302225e-02 1.19544359e+02] [ 2.81874006e-01 9.59445472e-01 -3.38109880e-03 1.63903357e+01] [ 1.20157322e-02 -6.32434190e-06 9.99927808e-01 1.27104891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.200281693 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:119.60, Y:16.41, Z:1.27 [[ 9.58385289e-01 -2.85244977e-01 -1.15299567e-02 1.19599281e+02] [ 2.85224931e-01 9.58454642e-01 -3.38200514e-03 1.64072956e+01] [ 1.20156405e-02 -4.73671231e-05 9.99927808e-01 1.27062156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.260281693 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:119.65, Y:16.42, Z:1.27 [[ 9.57591937e-01 -2.87897113e-01 -1.15296959e-02 1.19654618e+02] [ 2.87877248e-01 9.57661342e-01 -3.38289393e-03 1.64241739e+01] [ 1.20154694e-02 -7.97051787e-05 9.99927808e-01 1.26921735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.320281693 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:119.71, Y:16.44, Z:1.27 [[ 9.56490379e-01 -2.91535992e-01 -1.15291037e-02 1.19709885e+02] [ 2.91516367e-01 9.56559852e-01 -3.38491098e-03 1.64391746e+01] [ 1.20151011e-02 -1.23287643e-04 9.99927808e-01 1.26795720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.380281693 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:119.77, Y:16.45, Z:1.27 [[ 9.55791179e-01 -2.93820197e-01 -1.15288475e-02 1.19765556e+02] [ 2.93800728e-01 9.55860695e-01 -3.38578332e-03 1.64541379e+01] [ 1.20147837e-02 -1.51081957e-04 9.99927808e-01 1.27228700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.440281693 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:119.82, Y:16.47, Z:1.27 [[ 9.55193655e-01 -2.95756963e-01 -1.15282314e-02 1.19820458e+02] [ 2.95737609e-01 9.55263204e-01 -3.38787966e-03 1.64681078e+01] [ 1.20144843e-02 -1.73250448e-04 9.99927808e-01 1.27368155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.500281693 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:119.88, Y:16.48, Z:1.27 [[ 9.54010332e-01 -2.99551986e-01 -1.15279656e-02 1.19876619e+02] [ 2.99532898e-01 9.54079954e-01 -3.38878400e-03 1.64830019e+01] [ 1.20137179e-02 -2.20069997e-04 9.99927808e-01 1.27460981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.560281693 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:119.93, Y:16.50, Z:1.27 [[ 9.52625009e-01 -3.03928794e-01 -1.15273576e-02 1.19932884e+02] [ 3.03910000e-01 9.52694712e-01 -3.39085081e-03 1.64972479e+01] [ 1.20126299e-02 -2.73069981e-04 9.99927808e-01 1.27399308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.620281693 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:119.99, Y:16.51, Z:1.28 [[ 9.52044023e-01 -3.05743867e-01 -1.15267403e-02 1.19988806e+02] [ 3.05725181e-01 9.52113754e-01 -3.39294803e-03 1.65126060e+01] [ 1.20121411e-02 -2.93778879e-04 9.99927808e-01 1.27714777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.680281693 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:120.05, Y:16.52, Z:1.28 [[ 9.50791522e-01 -3.09616910e-01 -1.15261276e-02 1.20045398e+02] [ 3.09598483e-01 9.50861322e-01 -3.39502822e-03 1.65240833e+01] [ 1.20109071e-02 -3.40507575e-04 9.99927808e-01 1.27862698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74028169300001 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:120.10, Y:16.53, Z:1.28 [[ 9.49009112e-01 -3.15037884e-01 -1.15255132e-02 1.20103170e+02] [ 3.15019830e-01 9.49079009e-01 -3.39711287e-03 1.65306086e+01] [ 1.20088419e-02 -4.06874128e-04 9.99927808e-01 1.27725116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.800281693 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:120.16, Y:16.54, Z:1.28 [[ 9.47824250e-01 -3.18584934e-01 -1.15252485e-02 1.20161606e+02] [ 3.18567131e-01 9.47894212e-01 -3.39801061e-03 1.65390521e+01] [ 1.20072713e-02 -4.50848485e-04 9.99927808e-01 1.27553382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.860281693 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:120.22, Y:16.54, Z:1.28 [[ 9.47401960e-01 -3.19838565e-01 -1.15246504e-02 1.20219681e+02] [ 3.19820830e-01 9.47471940e-01 -3.40003766e-03 1.65426472e+01] [ 1.20067461e-02 -4.64620930e-04 9.99927808e-01 1.27573605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.920281693 meters Centerline goodness : 0.999345 with order 1 Centerline is valid? [True, True] Translation: X:120.28, Y:16.55, Z:1.28 [[ 9.48088023e-01 -3.17799133e-01 -1.15243917e-02 1.20279584e+02] [ 3.17781237e-01 9.48157961e-01 -3.40091446e-03 1.65456304e+01] [ 1.20077514e-02 -4.37869178e-04 9.99927808e-01 1.28043674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.980281693 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:120.34, Y:16.55, Z:1.28 [[ 9.49454994e-01 -3.13691593e-01 -1.15238019e-02 1.20338995e+02] [ 3.13673370e-01 9.49524848e-01 -3.40291162e-03 1.65502393e+01] [ 1.20096011e-02 -3.83798360e-04 9.99927808e-01 1.28038209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.040281693 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:120.40, Y:16.56, Z:1.28 [[ 9.51445741e-01 -3.07600745e-01 -1.15231889e-02 1.20396025e+02] [ 3.07582049e-01 9.51515470e-01 -3.40498624e-03 1.65613094e+01] [ 1.20118688e-02 -3.04666409e-04 9.99927808e-01 1.28281030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.100281693 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:120.45, Y:16.58, Z:1.29 [[ 9.52614414e-01 -3.03962182e-01 -1.15225629e-02 1.20451803e+02] [ 3.03943195e-01 9.52684064e-01 -3.40710327e-03 1.65750151e+01] [ 1.20129926e-02 -2.56548906e-04 9.99927808e-01 1.28566936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.160281693 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:120.51, Y:16.59, Z:1.28 [[ 9.53508775e-01 -3.01144903e-01 -1.15222902e-02 1.20508964e+02] [ 3.01125699e-01 9.53578365e-01 -3.40802537e-03 1.65874778e+01] [ 1.20137161e-02 -2.20075588e-04 9.99927808e-01 1.28475040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.220281693 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:120.57, Y:16.60, Z:1.29 [[ 9.53553051e-01 -3.01004701e-01 -1.15216849e-02 1.20565968e+02] [ 3.00985462e-01 9.53622631e-01 -3.41007048e-03 1.65995022e+01] [ 1.20137867e-02 -2.16176545e-04 9.99927808e-01 1.28583363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.280281693 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:120.62, Y:16.61, Z:1.29 [[ 9.53551060e-01 -3.01011033e-01 -1.15210663e-02 1.20621702e+02] [ 3.00991769e-01 9.53620633e-01 -3.41215908e-03 1.66135667e+01] [ 1.20138241e-02 -2.14078226e-04 9.99927808e-01 1.28863467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.340281693 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:120.68, Y:16.63, Z:1.29 [[ 9.53512928e-01 -3.01131810e-01 -1.15207997e-02 1.20677839e+02] [ 3.01112544e-01 9.53582501e-01 -3.41305906e-03 1.66291789e+01] [ 1.20138137e-02 -2.14661378e-04 9.99927808e-01 1.28794966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.400281693 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:120.73, Y:16.65, Z:1.28 [[ 9.53781972e-01 -3.00278596e-01 -1.15201490e-02 1.20732753e+02] [ 3.00259241e-01 9.53851521e-01 -3.41525388e-03 1.66460273e+01] [ 1.20140393e-02 -2.01623630e-04 9.99927808e-01 1.28250484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.460281693 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:120.79, Y:16.66, Z:1.28 [[ 9.54835188e-01 -2.96912537e-01 -1.15199483e-02 1.20786638e+02] [ 2.96892929e-01 9.54904666e-01 -3.41593089e-03 1.66641890e+01] [ 1.20146851e-02 -1.58540174e-04 9.99927808e-01 1.28386647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.520281693 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:120.84, Y:16.68, Z:1.29 [[ 9.55440735e-01 -2.94958131e-01 -1.15196897e-02 1.20841346e+02] [ 2.94938370e-01 9.55510169e-01 -3.41680254e-03 1.66830612e+01] [ 1.20149944e-02 -1.33046186e-04 9.99927808e-01 1.28502382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.580281693 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:120.89, Y:16.71, Z:1.29 [[ 9.56333241e-01 -2.92051439e-01 -1.15190975e-02 1.20894820e+02] [ 2.92031443e-01 9.56402608e-01 -3.41879814e-03 1.67064577e+01] [ 1.20153598e-02 -9.44283443e-05 9.99927809e-01 1.28609176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.640281693 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:120.95, Y:16.72, Z:1.29 [[ 9.56059128e-01 -2.92947553e-01 -1.15184603e-02 1.20949818e+02] [ 2.92927597e-01 9.56128506e-01 -3.42094349e-03 1.67248848e+01] [ 1.20152853e-02 -1.03450642e-04 9.99927809e-01 1.28959850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.700281693 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:121.00, Y:16.74, Z:1.29 [[ 9.54364611e-01 -2.98421712e-01 -1.15182630e-02 1.21004725e+02] [ 2.98402145e-01 9.54434101e-01 -3.42160770e-03 1.67437086e+01] [ 1.20145050e-02 -1.71613092e-04 9.99927809e-01 1.29070446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.760281693 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:121.06, Y:16.76, Z:1.29 [[ 9.52528426e-01 -3.04231724e-01 -1.15176346e-02 1.21060773e+02] [ 3.04212555e-01 9.52598026e-01 -3.42372162e-03 1.67573670e+01] [ 1.20132807e-02 -2.42616883e-04 9.99927809e-01 1.28994967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.820281693 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:121.12, Y:16.77, Z:1.29 [[ 9.50834855e-01 -3.09484146e-01 -1.15169900e-02 1.21116005e+02] [ 3.09465336e-01 9.50904553e-01 -3.42588861e-03 1.67698044e+01] [ 1.20118165e-02 -3.06654883e-04 9.99927809e-01 1.29273494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.880281693 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:121.17, Y:16.78, Z:1.30 [[ 9.49196564e-01 -3.14472970e-01 -1.15167117e-02 1.21172636e+02] [ 3.14454515e-01 9.49266356e-01 -3.42682384e-03 1.67778462e+01] [ 1.20100705e-02 -3.68752587e-04 9.99927809e-01 1.29527872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.940281693 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:121.23, Y:16.79, Z:1.30 [[ 9.49088264e-01 -3.14799680e-01 -1.15164438e-02 1.21230535e+02] [ 3.14781237e-01 9.49158060e-01 -3.42772419e-03 1.67850134e+01] [ 1.20099719e-02 -3.71947613e-04 9.99927809e-01 1.30011526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.000281693 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:121.29, Y:16.79, Z:1.30 [[ 9.49213546e-01 -3.14421740e-01 -1.15157925e-02 1.21288377e+02] [ 3.14403243e-01 9.49283328e-01 -3.42991059e-03 1.67909747e+01] [ 1.20101883e-02 -3.64884932e-04 9.99927809e-01 1.29675079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.060281693 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:121.34, Y:16.80, Z:1.30 [[ 9.49636172e-01 -3.13142991e-01 -1.15155109e-02 1.21344407e+02] [ 3.13124389e-01 9.49705926e-01 -3.43085604e-03 1.68022900e+01] [ 1.20106974e-02 -3.47722305e-04 9.99927809e-01 1.29729933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.120281693 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:121.40, Y:16.81, Z:1.30 [[ 9.50435224e-01 -3.10709323e-01 -1.15152416e-02 1.21401892e+02] [ 3.10690531e-01 9.50504927e-01 -3.43175968e-03 1.68120033e+01] [ 1.20115736e-02 -3.16011242e-04 9.99927809e-01 1.29922571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.180281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:121.46, Y:16.83, Z:1.30 [[ 9.50764118e-01 -3.09701478e-01 -1.15146076e-02 1.21457166e+02] [ 3.09682586e-01 9.50833794e-01 -3.43388541e-03 1.68269019e+01] [ 1.20119574e-02 -3.01058440e-04 9.99927809e-01 1.29836924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24028169300001 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:121.51, Y:16.84, Z:1.30 [[ 9.51633014e-01 -3.07021216e-01 -1.15143332e-02 1.21514312e+02] [ 3.07002117e-01 9.51702633e-01 -3.43480552e-03 1.68399085e+01] [ 1.20127794e-02 -2.66250327e-04 9.99927809e-01 1.29908585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.300281693 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:121.57, Y:16.85, Z:1.30 [[ 9.52784542e-01 -3.03428824e-01 -1.15137320e-02 1.21569088e+02] [ 3.03409439e-01 9.52854082e-01 -3.43681957e-03 1.68542229e+01] [ 1.20137366e-02 -2.18826399e-04 9.99927809e-01 1.29930392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.360281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:121.62, Y:16.87, Z:1.30 [[ 9.53709935e-01 -3.00507575e-01 -1.15133238e-02 1.21624810e+02] [ 3.00487960e-01 9.53779411e-01 -3.43818640e-03 1.68708389e+01] [ 1.20143722e-02 -1.80582642e-04 9.99927809e-01 1.30024087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.420281693 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:121.68, Y:16.89, Z:1.30 [[ 9.54699169e-01 -2.97349885e-01 -1.15126867e-02 1.21679290e+02] [ 2.97330014e-01 9.54768572e-01 -3.44031845e-03 1.68877873e+01] [ 1.20149297e-02 -1.38598129e-04 9.99927809e-01 1.30146438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.480281693 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:121.74, Y:16.90, Z:1.30 [[ 9.54550326e-01 -2.97827367e-01 -1.15124103e-02 1.21735971e+02] [ 2.97807520e-01 9.54619735e-01 -3.44124294e-03 1.69009745e+01] [ 1.20148704e-02 -1.43642801e-04 9.99927809e-01 1.29879316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.540281693 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:121.79, Y:16.92, Z:1.30 [[ 9.54415042e-01 -2.98260634e-01 -1.15117896e-02 1.21791957e+02] [ 2.98240793e-01 9.54484454e-01 -3.44331827e-03 1.69163347e+01] [ 1.20148305e-02 -1.46930506e-04 9.99927809e-01 1.30319153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.600281693 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:121.85, Y:16.93, Z:1.31 [[ 9.54333176e-01 -2.98522498e-01 -1.15111656e-02 1.21848022e+02] [ 2.98502652e-01 9.54402586e-01 -3.44540294e-03 1.69311523e+01] [ 1.20148165e-02 -1.48051135e-04 9.99927809e-01 1.30825305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.660281693 meters Centerline goodness : 0.999514 with order 1 Centerline is valid? [True, True] Translation: X:121.90, Y:16.94, Z:1.30 [[ 9.55064993e-01 -2.96172867e-01 -1.15105148e-02 1.21903733e+02] [ 2.96152823e-01 9.55134346e-01 -3.44757579e-03 1.69446502e+01] [ 1.20151664e-02 -1.16212508e-04 9.99927809e-01 1.30364159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.720281693 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:121.96, Y:16.96, Z:1.30 [[ 9.56439693e-01 -2.91702981e-01 -1.15102334e-02 1.21959905e+02] [ 2.91682602e-01 9.56508948e-01 -3.44851492e-03 1.69598911e+01] [ 1.20155834e-02 -5.90382854e-05 9.99927809e-01 1.30178151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.780281693 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:122.01, Y:16.98, Z:1.31 [[ 9.57187004e-01 -2.89241366e-01 -1.15095902e-02 1.22014909e+02] [ 2.89220784e-01 9.57256199e-01 -3.45066053e-03 1.69769444e+01] [ 1.20157003e-02 -2.58852747e-05 9.99927809e-01 1.31069247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.840281693 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:122.07, Y:16.99, Z:1.31 [[ 9.57099582e-01 -2.89530523e-01 -1.15093913e-02 1.22070527e+02] [ 2.89509953e-01 9.57168781e-01 -3.45132359e-03 1.69943841e+01] [ 1.20156936e-02 -2.88229778e-05 9.99927809e-01 1.31366560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.900281693 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:122.13, Y:17.01, Z:1.31 [[ 9.56675218e-01 -2.90929675e-01 -1.15087563e-02 1.22126377e+02] [ 2.90909181e-01 9.56744439e-01 -3.45343994e-03 1.70107978e+01] [ 1.20156467e-02 -4.41824610e-05 9.99927809e-01 1.31139855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.960281693 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:122.18, Y:17.03, Z:1.31 [[ 9.54943215e-01 -2.96565370e-01 -1.15081277e-02 1.22182551e+02] [ 2.96545259e-01 9.55012549e-01 -3.45553344e-03 1.70265385e+01] [ 1.20151979e-02 -1.12842490e-04 9.99927809e-01 1.30608468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.020281693 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:122.24, Y:17.04, Z:1.31 [[ 9.53031428e-01 -3.02652730e-01 -1.15074923e-02 1.22238379e+02] [ 3.02633036e-01 9.53100881e-01 -3.45764804e-03 1.70398760e+01] [ 1.20142677e-02 -1.87300085e-04 9.99927809e-01 1.30584842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.080281693 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:122.29, Y:17.05, Z:1.31 [[ 9.53069616e-01 -3.02532463e-01 -1.15072170e-02 1.22294266e+02] [ 3.02512749e-01 9.53139064e-01 -3.45856414e-03 1.70544598e+01] [ 1.20143059e-02 -1.84827439e-04 9.99927809e-01 1.31046189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.140281693 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:122.35, Y:17.07, Z:1.31 [[ 9.54637002e-01 -2.97549647e-01 -1.15065837e-02 1.22349621e+02] [ 2.97529546e-01 9.54706339e-01 -3.46066983e-03 1.70721820e+01] [ 1.20151294e-02 -1.19865137e-04 9.99927809e-01 1.30993040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.200281693 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:122.40, Y:17.09, Z:1.31 [[ 9.57900845e-01 -2.86868585e-01 -1.15059329e-02 1.22403212e+02] [ 2.86847685e-01 9.57969944e-01 -3.46283208e-03 1.70921458e+01] [ 1.20157157e-02 1.65995540e-05 9.99927809e-01 1.31008997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.260281693 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:122.46, Y:17.12, Z:1.31 [[ 9.60153588e-01 -2.79235937e-01 -1.15056505e-02 1.22457324e+02] [ 2.79214476e-01 9.60222515e-01 -3.46377032e-03 1.71151522e+01] [ 1.20151938e-02 1.13207334e-04 9.99927809e-01 1.30881441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.320281693 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:122.51, Y:17.14, Z:1.31 [[ 9.60908890e-01 -2.76625629e-01 -1.15050252e-02 1.22511664e+02] [ 2.76603956e-01 9.60977752e-01 -3.46584589e-03 1.71365871e+01] [ 1.20148150e-02 1.48026642e-04 9.99927809e-01 1.31219751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.380281693 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:122.57, Y:17.16, Z:1.31 [[ 9.61022837e-01 -2.76229535e-01 -1.15043814e-02 1.22565463e+02] [ 2.76207808e-01 9.61091681e-01 -3.46798172e-03 1.71562270e+01] [ 1.20147242e-02 1.55209671e-04 9.99927809e-01 1.31198995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.440281693 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:122.62, Y:17.18, Z:1.31 [[ 9.62278838e-01 -2.71821805e-01 -1.15041037e-02 1.22619202e+02] [ 2.71799751e-01 9.62347579e-01 -3.46890237e-03 1.71790751e+01] [ 1.20138697e-02 2.11238803e-04 9.99927809e-01 1.31440332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.500281693 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:122.67, Y:17.20, Z:1.31 [[ 9.63662428e-01 -2.66875244e-01 -1.15034672e-02 1.22673278e+02] [ 2.66852813e-01 9.63731046e-01 -3.47101185e-03 1.72001063e+01] [ 1.20125756e-02 2.75151115e-04 9.99927809e-01 1.31479369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.560281693 meters Centerline goodness : 0.999387 with order 1 Centerline is valid? [True, True] Translation: X:122.73, Y:17.23, Z:1.31 [[ 9.64841093e-01 -2.62582082e-01 -1.15028291e-02 1.22725299e+02] [ 2.62559320e-01 9.64909602e-01 -3.47312525e-03 1.72250738e+01] [ 1.20111707e-02 3.30838968e-04 9.99927809e-01 1.31444134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.620281693 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:122.78, Y:17.25, Z:1.32 [[ 9.64720774e-01 -2.63023807e-01 -1.15023965e-02 1.22778149e+02] [ 2.63001060e-01 9.64789288e-01 -3.47455734e-03 1.72500425e+01] [ 1.20112803e-02 3.26835170e-04 9.99927809e-01 1.31828371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.680281693 meters Centerline goodness : 0.999471 with order 1 Centerline is valid? [True, True] Translation: X:122.83, Y:17.28, Z:1.32 [[ 9.64928225e-01 -2.62261757e-01 -1.15017665e-02 1.22830729e+02] [ 2.62238931e-01 9.64996713e-01 -3.47664163e-03 1.72760507e+01] [ 1.20109570e-02 3.38498689e-04 9.99927809e-01 1.32388499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74028169300001 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:122.88, Y:17.30, Z:1.33 [[ 9.65005865e-01 -2.61975943e-01 -1.15015719e-02 1.22884318e+02] [ 2.61953089e-01 9.65074343e-01 -3.47728520e-03 1.72984528e+01] [ 1.20108371e-02 3.42728314e-04 9.99927809e-01 1.32520963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.800281693 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:122.94, Y:17.32, Z:1.32 [[ 9.64026022e-01 -2.65558952e-01 -1.15009616e-02 1.22938050e+02] [ 2.65536328e-01 9.64094577e-01 -3.47930269e-03 1.73205326e+01] [ 1.20119747e-02 3.00215221e-04 9.99927809e-01 1.32150722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.860281693 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:122.99, Y:17.34, Z:1.32 [[ 9.63305000e-01 -2.68162674e-01 -1.15003190e-02 1.22991563e+02] [ 2.68140210e-01 9.63373607e-01 -3.48142528e-03 1.73405709e+01] [ 1.20126922e-02 2.69976418e-04 9.99927809e-01 1.32354480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.920281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:123.05, Y:17.36, Z:1.32 [[ 9.63447233e-01 -2.67651224e-01 -1.15000399e-02 1.23045291e+02] [ 2.67628712e-01 9.63515825e-01 -3.48234716e-03 1.73642353e+01] [ 1.20125249e-02 2.77316870e-04 9.99927809e-01 1.32123825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.980281693 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:123.10, Y:17.39, Z:1.32 [[ 9.64056992e-01 -2.65446548e-01 -1.14998428e-02 1.23099313e+02] [ 2.65423872e-01 9.64125530e-01 -3.48299787e-03 1.73869060e+01] [ 1.20118418e-02 3.05475643e-04 9.99927809e-01 1.32050493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.040281693 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:123.15, Y:17.41, Z:1.32 [[ 9.64691848e-01 -2.63130020e-01 -1.14992125e-02 1.23153066e+02] [ 2.63107154e-01 9.64760322e-01 -3.48507776e-03 1.74095792e+01] [ 1.20110125e-02 3.36501040e-04 9.99927809e-01 1.32128256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.100281693 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:123.21, Y:17.44, Z:1.32 [[ 9.64805288e-01 -2.62713798e-01 -1.14985885e-02 1.23205440e+02] [ 2.62690878e-01 9.64873744e-01 -3.48713525e-03 1.74371583e+01] [ 1.20108047e-02 3.43832215e-04 9.99927809e-01 1.32156472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.160281693 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:123.26, Y:17.46, Z:1.32 [[ 9.64241570e-01 -2.64775360e-01 -1.14979330e-02 1.23259156e+02] [ 2.64752562e-01 9.64310067e-01 -3.48929512e-03 1.74603714e+01] [ 1.20114519e-02 3.20416184e-04 9.99927809e-01 1.32277288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.220281693 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:123.31, Y:17.48, Z:1.33 [[ 9.63316997e-01 -2.68119690e-01 -1.14976271e-02 1.23312663e+02] [ 2.68097117e-01 9.63385569e-01 -3.49030286e-03 1.74848808e+01] [ 1.20124670e-02 2.79787391e-04 9.99927809e-01 1.32901260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.280281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:123.36, Y:17.51, Z:1.33 [[ 9.63125757e-01 -2.68805867e-01 -1.14970640e-02 1.23364196e+02] [ 2.68783321e-01 9.63194337e-01 -3.49215669e-03 1.75099165e+01] [ 1.20126192e-02 2.73167010e-04 9.99927809e-01 1.32884182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.340281693 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:123.42, Y:17.54, Z:1.33 [[ 9.62160541e-01 -2.72240551e-01 -1.14967852e-02 1.23416968e+02] [ 2.72218239e-01 9.62229198e-01 -3.49307429e-03 1.75369496e+01] [ 1.20134989e-02 2.31263626e-04 9.99927809e-01 1.32975369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.400281693 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:123.47, Y:17.56, Z:1.33 [[ 9.61296393e-01 -2.75276375e-01 -1.14961463e-02 1.23469796e+02] [ 2.75254254e-01 9.61365112e-01 -3.49517575e-03 1.75588312e+01] [ 1.20141333e-02 1.95536655e-04 9.99927809e-01 1.32812179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.460281693 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:123.52, Y:17.58, Z:1.33 [[ 9.59697725e-01 -2.80799078e-01 -1.14958706e-02 1.23523469e+02] [ 2.80777342e-01 9.59766566e-01 -3.49608228e-03 1.75832358e+01] [ 1.20150490e-02 1.27402211e-04 9.99927809e-01 1.32775268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.520281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:123.58, Y:17.61, Z:1.33 [[ 9.57574409e-01 -2.87956785e-01 -1.14952439e-02 1.23576567e+02] [ 2.87935539e-01 9.57643404e-01 -3.49814189e-03 1.76061301e+01] [ 1.20156582e-02 3.98419256e-05 9.99927809e-01 1.33086611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.580281693 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:123.63, Y:17.63, Z:1.33 [[ 9.56512645e-01 -2.91464294e-01 -1.14946007e-02 1.23631066e+02] [ 2.91443275e-01 9.56581709e-01 -3.50025413e-03 1.76257776e+01] [ 1.20157238e-02 -1.98673185e-06 9.99927809e-01 1.33198995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.640281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:123.69, Y:17.64, Z:1.33 [[ 9.54930933e-01 -2.96605464e-01 -1.14939706e-02 1.23686832e+02] [ 2.96584793e-01 9.55000102e-01 -3.50232203e-03 1.76411851e+01] [ 1.20155509e-02 -6.44612255e-05 9.99927809e-01 1.33294424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.700281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:123.74, Y:17.66, Z:1.33 [[ 9.53699172e-01 -3.00542498e-01 -1.14933155e-02 1.23742491e+02] [ 3.00522086e-01 9.53768418e-01 -3.50447034e-03 1.76551360e+01] [ 1.20152036e-02 -1.11784689e-04 9.99927809e-01 1.33310159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.760281693 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:123.80, Y:17.67, Z:1.34 [[ 9.52151430e-01 -3.05410486e-01 -1.14930322e-02 1.23800187e+02] [ 3.05390417e-01 9.52220776e-01 -3.50539903e-03 1.76657255e+01] [ 1.20144897e-02 -1.72191211e-04 9.99927809e-01 1.33609278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.820281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:123.86, Y:17.68, Z:1.33 [[ 9.51415641e-01 -3.07694984e-01 -1.14924028e-02 1.23859065e+02] [ 3.07675057e-01 9.51485027e-01 -3.50746134e-03 1.76757445e+01] [ 1.20140775e-02 -1.98872121e-04 9.99927809e-01 1.33083954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.880281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:123.92, Y:17.69, Z:1.34 [[ 9.51638846e-01 -3.07003981e-01 -1.14918582e-02 1.23917686e+02] [ 3.06983982e-01 9.51708212e-01 -3.50924477e-03 1.76864163e+01] [ 1.20142480e-02 -1.88282761e-04 9.99927809e-01 1.33622300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.940281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:123.97, Y:17.70, Z:1.34 [[ 9.52308373e-01 -3.04920830e-01 -1.14912917e-02 1.23974158e+02] [ 3.04900657e-01 9.52377689e-01 -3.51109903e-03 1.76987306e+01] [ 1.20146570e-02 -1.60053377e-04 9.99927809e-01 1.33888524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.000281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:124.03, Y:17.71, Z:1.34 [[ 9.52838945e-01 -3.03258818e-01 -1.14906402e-02 1.24030228e+02] [ 3.03238498e-01 9.52908217e-01 -3.51322972e-03 1.77141247e+01] [ 1.20149434e-02 -1.36862377e-04 9.99927809e-01 1.33923555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.060281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:124.09, Y:17.73, Z:1.34 [[ 9.53675762e-01 -3.00616900e-01 -1.14899887e-02 1.24085635e+02] [ 3.00596362e-01 9.53744971e-01 -3.51535910e-03 1.77280534e+01] [ 1.20152953e-02 -1.01336043e-04 9.99927809e-01 1.34197739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.120281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:124.14, Y:17.74, Z:1.34 [[ 9.53432166e-01 -3.01388612e-01 -1.14895453e-02 1.24142220e+02] [ 3.01368113e-01 9.53501386e-01 -3.51680781e-03 1.77408384e+01] [ 1.20152232e-02 -1.09544898e-04 9.99927809e-01 1.33859514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.180281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:124.20, Y:17.75, Z:1.34 [[ 9.53905797e-01 -2.99886204e-01 -1.14889068e-02 1.24200380e+02] [ 2.99865571e-01 9.53974977e-01 -3.51889239e-03 1.77532637e+01] [ 1.20153969e-02 -8.84357617e-05 9.99927809e-01 1.33547457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24028169300001 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:124.26, Y:17.77, Z:1.34 [[ 9.54428105e-01 -2.98219734e-01 -1.14883441e-02 1.24256380e+02] [ 2.98198958e-01 9.54497242e-01 -3.52072865e-03 1.77689169e+01] [ 1.20155435e-02 -6.55298634e-05 9.99927809e-01 1.33923444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.300281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:124.31, Y:17.78, Z:1.34 [[ 9.55663489e-01 -2.94236845e-01 -1.14880448e-02 1.24312066e+02] [ 2.94215770e-01 9.55732535e-01 -3.52170488e-03 1.77837340e+01] [ 1.20157135e-02 -1.43991750e-05 9.99927809e-01 1.34331108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.360281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:124.37, Y:17.80, Z:1.34 [[ 9.56408225e-01 -2.91807035e-01 -1.14874060e-02 1.24367143e+02] [ 2.91785759e-01 9.56477210e-01 -3.52378738e-03 1.78014440e+01] [ 1.20157080e-02 1.83177542e-05 9.99927809e-01 1.33949804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.420281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:124.42, Y:17.82, Z:1.34 [[ 9.56390026e-01 -2.91866685e-01 -1.14872087e-02 1.24421755e+02] [ 2.91845405e-01 9.56459010e-01 -3.52443048e-03 1.78180604e+01] [ 1.20157081e-02 1.82410854e-05 9.99927809e-01 1.34064791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.480281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:124.48, Y:17.84, Z:1.35 [[ 9.56174739e-01 -2.92571220e-01 -1.14869357e-02 1.24477886e+02] [ 2.92549980e-01 9.56243735e-01 -3.52532018e-03 1.78366814e+01] [ 1.20157175e-02 1.03193012e-05 9.99927809e-01 1.34988184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.540281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:124.53, Y:17.86, Z:1.35 [[ 9.56264346e-01 -2.92278229e-01 -1.14863688e-02 1.24532313e+02] [ 2.92256946e-01 9.56333329e-01 -3.52716605e-03 1.78550258e+01] [ 1.20157112e-02 1.59320658e-05 9.99927809e-01 1.35105988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.600281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:124.59, Y:17.87, Z:1.35 [[ 9.56422281e-01 -2.91761020e-01 -1.14859302e-02 1.24587460e+02] [ 2.91739683e-01 9.56491247e-01 -3.52859385e-03 1.78735812e+01] [ 1.20156978e-02 2.39241451e-05 9.99927809e-01 1.34971051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.660281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:124.64, Y:17.89, Z:1.35 [[ 9.56562187e-01 -2.91302025e-01 -1.14852789e-02 1.24642840e+02] [ 2.91280629e-01 9.56631135e-01 -3.53071264e-03 1.78900982e+01] [ 1.20156791e-02 3.19069519e-05 9.99927809e-01 1.35051297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.720281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:124.70, Y:17.91, Z:1.35 [[ 9.56819641e-01 -2.90455293e-01 -1.14846302e-02 1.24696686e+02] [ 2.90433811e-01 9.56888562e-01 -3.53282119e-03 1.79098253e+01] [ 1.20156379e-02 4.47477802e-05 9.99927809e-01 1.35058177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.780281693 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:124.75, Y:17.93, Z:1.35 [[ 9.57158017e-01 -2.89338279e-01 -1.14843491e-02 1.24751353e+02] [ 2.89316705e-01 9.57226910e-01 -3.53373492e-03 1.79318819e+01] [ 1.20155728e-02 5.97286701e-05 9.99927809e-01 1.34767505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.840281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:124.80, Y:17.95, Z:1.35 [[ 9.57763599e-01 -2.87327360e-01 -1.14837598e-02 1.24804556e+02] [ 2.87305619e-01 9.57832439e-01 -3.53564892e-03 1.79546861e+01] [ 1.20154063e-02 8.69671178e-05 9.99927809e-01 1.35085242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.900281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:124.86, Y:17.98, Z:1.35 [[ 9.58098293e-01 -2.86209350e-01 -1.14834470e-02 1.24858294e+02] [ 2.86187516e-01 9.58167103e-01 -3.53666460e-03 1.79765772e+01] [ 1.20152876e-02 1.02053140e-04 9.99927809e-01 1.35387382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.960281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.91, Y:18.00, Z:1.36 [[ 9.57624925e-01 -2.87789243e-01 -1.14827744e-02 1.24910233e+02] [ 2.87767497e-01 9.57693763e-01 -3.53884707e-03 1.80002847e+01] [ 1.20154235e-02 8.45189203e-05 9.99927809e-01 1.35573940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.020281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.96, Y:18.02, Z:1.36 [[ 9.57357911e-01 -2.88676258e-01 -1.14824822e-02 1.24964862e+02] [ 2.88654564e-01 9.57426766e-01 -3.53979490e-03 1.80193996e+01] [ 1.20154905e-02 7.43797657e-05 9.99927809e-01 1.35681270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.080281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:125.02, Y:18.04, Z:1.36 [[ 9.57033296e-01 -2.89750648e-01 -1.14818363e-02 1.25017577e+02] [ 2.89729006e-01 9.57102167e-01 -3.54188874e-03 1.80425001e+01] [ 1.20155549e-02 6.30844497e-05 9.99927809e-01 1.35807133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.140281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:125.07, Y:18.07, Z:1.36 [[ 9.56219388e-01 -2.92425472e-01 -1.14815567e-02 1.25070655e+02] [ 2.92404012e-01 9.56288316e-01 -3.54279487e-03 1.80661195e+01] [ 1.20156820e-02 3.04359093e-05 9.99927809e-01 1.35799886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.200281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:125.12, Y:18.09, Z:1.36 [[ 9.54991137e-01 -2.96412073e-01 -1.14808928e-02 1.25124534e+02] [ 2.96390875e-01 9.55060146e-01 -3.54494505e-03 1.80882393e+01] [ 1.20157076e-02 -1.74407539e-05 9.99927809e-01 1.35741369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.260281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:125.18, Y:18.11, Z:1.36 [[ 9.52039244e-01 -3.05760498e-01 -1.14802121e-02 1.25178746e+02] [ 3.05739951e-01 9.52108450e-01 -3.54714792e-03 1.81066153e+01] [ 1.20149847e-02 -1.32935461e-04 9.99927809e-01 1.35577581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.320281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.23, Y:18.12, Z:1.36 [[ 9.48728101e-01 -3.15884793e-01 -1.14799184e-02 1.25234607e+02] [ 3.15864973e-01 9.48797518e-01 -3.54809818e-03 1.81205331e+01] [ 1.20129084e-02 -2.59923682e-04 9.99927809e-01 1.36159543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.380281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.29, Y:18.13, Z:1.36 [[ 9.47256153e-01 -3.20271771e-01 -1.14792219e-02 1.25289483e+02] [ 3.20252245e-01 9.47325654e-01 -3.55035038e-03 1.81342651e+01] [ 1.20116384e-02 -3.13155328e-04 9.99927809e-01 1.36323723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.440281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:125.35, Y:18.15, Z:1.36 [[ 9.46259457e-01 -3.23204695e-01 -1.14789222e-02 1.25347061e+02] [ 3.23185373e-01 9.46329014e-01 -3.55131893e-03 1.81456568e+01] [ 1.20106401e-02 -3.49350638e-04 9.99927809e-01 1.35756059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.500281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.40, Y:18.16, Z:1.36 [[ 9.46145790e-01 -3.23537314e-01 -1.14782722e-02 1.25404439e+02] [ 3.23517990e-01 9.46215347e-01 -3.55341861e-03 1.81571425e+01] [ 1.20105808e-02 -3.51375496e-04 9.99927809e-01 1.35815365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.560281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.46, Y:18.17, Z:1.36 [[ 9.45732766e-01 -3.24742666e-01 -1.14776010e-02 1.25460917e+02] [ 3.24723405e-01 9.45802341e-01 -3.55558526e-03 1.81689240e+01] [ 1.20101921e-02 -3.64412202e-04 9.99927809e-01 1.36402109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.620281693 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:125.52, Y:18.18, Z:1.36 [[ 9.44701968e-01 -3.27729251e-01 -1.14773937e-02 1.25519886e+02] [ 3.27710201e-01 9.44771600e-01 -3.55625417e-03 1.81752017e+01] [ 1.20090042e-02 -4.01658701e-04 9.99927809e-01 1.36292391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.680281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:125.58, Y:18.18, Z:1.36 [[ 9.44544802e-01 -3.28181964e-01 -1.14767326e-02 1.25577927e+02] [ 3.28162923e-01 9.44614437e-01 -3.55838641e-03 1.81815228e+01] [ 1.20088856e-02 -4.05182735e-04 9.99927809e-01 1.36399215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74028169300001 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:125.64, Y:18.19, Z:1.37 [[ 9.45472961e-01 -3.25498349e-01 -1.14762845e-02 1.25636957e+02] [ 3.25479092e-01 9.45542536e-01 -3.55983115e-03 1.81857930e+01] [ 1.20100343e-02 -3.69566564e-04 9.99927809e-01 1.37121481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.800281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:125.69, Y:18.19, Z:1.37 [[ 9.46157992e-01 -3.23501720e-01 -1.14756379e-02 1.25693920e+02] [ 3.23482291e-01 9.46227520e-01 -3.56191431e-03 1.81943818e+01] [ 1.20108498e-02 -3.42031954e-04 9.99927809e-01 1.36790981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.860281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:125.75, Y:18.20, Z:1.37 [[ 9.48358659e-01 -3.16992388e-01 -1.14751994e-02 1.25752484e+02] [ 3.16972465e-01 9.48428046e-01 -3.56332636e-03 1.82005052e+01] [ 1.20129483e-02 -2.58010840e-04 9.99927809e-01 1.37087939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.920281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:125.81, Y:18.21, Z:1.37 [[ 9.51831842e-01 -3.06405741e-01 -1.14745626e-02 1.25809463e+02] [ 3.06385021e-01 9.51900996e-01 -3.56537604e-03 1.82127992e+01] [ 1.20150992e-02 -1.21995643e-04 9.99927809e-01 1.36875352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.980281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:125.86, Y:18.23, Z:1.37 [[ 9.55518011e-01 -2.94709484e-01 -1.14739176e-02 1.25864866e+02] [ 2.94687892e-01 9.55586898e-01 -3.56745038e-03 1.82272182e+01] [ 1.20156868e-02 2.75384924e-05 9.99927809e-01 1.36730168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.040281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:125.92, Y:18.24, Z:1.37 [[ 9.57470915e-01 -2.88301590e-01 -1.14734795e-02 1.25920574e+02] [ 2.88279521e-01 9.57539650e-01 -3.56885893e-03 1.82438342e+01] [ 1.20152192e-02 1.09509461e-04 9.99927809e-01 1.36811299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.100281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:125.98, Y:18.26, Z:1.37 [[ 9.58861757e-01 -2.83641506e-01 -1.14728560e-02 1.25976262e+02] [ 2.83619079e-01 9.58930377e-01 -3.57086218e-03 1.82602263e+01] [ 1.20145148e-02 1.70042347e-04 9.99927809e-01 1.36570931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.160281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:126.03, Y:18.28, Z:1.37 [[ 9.58626370e-01 -2.84436057e-01 -1.14722245e-02 1.26031378e+02] [ 2.84413662e-01 9.58695000e-01 -3.57288992e-03 1.82778174e+01] [ 1.20146229e-02 1.62209120e-04 9.99927809e-01 1.36508287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.220281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:126.09, Y:18.29, Z:1.37 [[ 9.58469043e-01 -2.84965781e-01 -1.14715808e-02 1.26087370e+02] [ 2.84943400e-01 9.58537677e-01 -3.57495524e-03 1.82938034e+01] [ 1.20146824e-02 1.57732687e-04 9.99927809e-01 1.36796131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.280281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:126.14, Y:18.31, Z:1.37 [[ 9.58654676e-01 -2.84340694e-01 -1.14709084e-02 1.26142434e+02] [ 2.84318242e-01 9.58723287e-01 -3.57711162e-03 1.83115200e+01] [ 1.20145454e-02 1.67826280e-04 9.99927809e-01 1.37047321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.340281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:126.20, Y:18.33, Z:1.38 [[ 9.59645835e-01 -2.80977411e-01 -1.14702410e-02 1.26197135e+02] [ 2.80954693e-01 9.59714358e-01 -3.57925024e-03 1.83311827e+01] [ 1.20138435e-02 2.12194538e-04 9.99927809e-01 1.37533543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.400281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:126.25, Y:18.35, Z:1.38 [[ 9.60147259e-01 -2.79259181e-01 -1.14695721e-02 1.26250200e+02] [ 2.79236314e-01 9.60215733e-01 -3.58139255e-03 1.83514210e+01] [ 1.20134003e-02 2.35943204e-04 9.99927809e-01 1.37632086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.460281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:126.30, Y:18.37, Z:1.37 [[ 9.59588005e-01 -2.81174887e-01 -1.14692832e-02 1.26303714e+02] [ 2.81152146e-01 9.59656521e-01 -3.58231738e-03 1.83737554e+01] [ 1.20138301e-02 2.12935190e-04 9.99927809e-01 1.37294887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.520281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:126.36, Y:18.40, Z:1.37 [[ 9.58728312e-01 -2.84092405e-01 -1.14686386e-02 1.26357749e+02] [ 2.84069849e-01 9.58796888e-01 -3.58438007e-03 1.83967401e+01] [ 1.20143901e-02 1.78552237e-04 9.99927809e-01 1.37295827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.580281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:126.41, Y:18.42, Z:1.37 [[ 9.59381086e-01 -2.81880147e-01 -1.14679889e-02 1.26410415e+02] [ 2.81857407e-01 9.59449602e-01 -3.58645725e-03 1.84211184e+01] [ 1.20139085e-02 2.08441624e-04 9.99927809e-01 1.37327850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.640281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:126.46, Y:18.45, Z:1.37 [[ 9.60834221e-01 -2.76886438e-01 -1.14673121e-02 1.26460244e+02] [ 2.76863317e-01 9.60902610e-01 -3.58862000e-03 1.84521380e+01] [ 1.20126104e-02 2.73190839e-04 9.99927809e-01 1.37356480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.700281693 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:126.51, Y:18.48, Z:1.37 [[ 9.60869277e-01 -2.76764776e-01 -1.14670185e-02 1.26510887e+02] [ 2.76741634e-01 9.60937658e-01 -3.58955785e-03 1.84847244e+01] [ 1.20125531e-02 2.75694405e-04 9.99927809e-01 1.37215876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.760281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:126.56, Y:18.52, Z:1.37 [[ 9.60018582e-01 -2.79701349e-01 -1.14663542e-02 1.26559984e+02] [ 2.79678392e-01 9.60087026e-01 -3.59167876e-03 1.85179819e+01] [ 1.20132953e-02 2.41186847e-04 9.99927809e-01 1.37369149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.820281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:126.61, Y:18.55, Z:1.38 [[ 9.58922269e-01 -2.83437138e-01 -1.14660665e-02 1.26612210e+02] [ 2.83414436e-01 9.58990798e-01 -3.59259686e-03 1.85452260e+01] [ 1.20141277e-02 1.95372351e-04 9.99927809e-01 1.37830045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.880281693 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:126.66, Y:18.57, Z:1.38 [[ 9.57713169e-01 -2.87496138e-01 -1.14654106e-02 1.26663856e+02] [ 2.87473702e-01 9.57781786e-01 -3.59468904e-03 1.85701330e+01] [ 1.20148206e-02 1.46677009e-04 9.99927809e-01 1.38024248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.940281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:126.72, Y:18.59, Z:1.38 [[ 9.56422407e-01 -2.91761428e-01 -1.14651274e-02 1.26716787e+02] [ 2.91739286e-01 9.56491119e-01 -3.59559208e-03 1.85941168e+01] [ 1.20153476e-02 9.40767448e-05 9.99927809e-01 1.38166784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.000281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:126.77, Y:18.62, Z:1.38 [[ 9.53944111e-01 -2.99765239e-01 -1.14644852e-02 1.26770301e+02] [ 2.99743649e-01 9.54012999e-01 -3.59763853e-03 1.86168522e+01] [ 1.20157149e-02 -4.46053816e-06 9.99927809e-01 1.37897835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.060281693 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:126.82, Y:18.64, Z:1.38 [[ 9.51314980e-01 -3.08007125e-01 -1.14638149e-02 1.26823598e+02] [ 3.07986107e-01 9.51384044e-01 -3.59977320e-03 1.86371336e+01] [ 1.20152464e-02 -1.06177539e-04 9.99927809e-01 1.38174485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.120281693 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:126.88, Y:18.65, Z:1.38 [[ 9.49426626e-01 -3.13779650e-01 -1.14635256e-02 1.26878870e+02] [ 3.13759041e-01 9.49495813e-01 -3.60069407e-03 1.86532320e+01] [ 1.20143941e-02 -1.78189980e-04 9.99927809e-01 1.38304249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.180281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:126.93, Y:18.67, Z:1.38 [[ 9.48764122e-01 -3.15777206e-01 -1.14628728e-02 1.26934814e+02] [ 3.15756717e-01 9.48833345e-01 -3.60277131e-03 1.86699357e+01] [ 1.20140290e-02 -2.01298906e-04 9.99927809e-01 1.38062836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24028169300001 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:126.99, Y:18.69, Z:1.38 [[ 9.48323298e-01 -3.17098629e-01 -1.14622141e-02 1.26990734e+02] [ 3.17078211e-01 9.48392542e-01 -3.60486556e-03 1.86850238e+01] [ 1.20137763e-02 -2.15840354e-04 9.99927809e-01 1.37695322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.300281693 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:127.05, Y:18.70, Z:1.38 [[ 9.48588006e-01 -3.16305908e-01 -1.14615565e-02 1.27047386e+02] [ 3.16285407e-01 9.48657225e-01 -3.60695522e-03 1.86992947e+01] [ 1.20139896e-02 -2.03608609e-04 9.99927809e-01 1.38102295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.360281693 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:127.10, Y:18.71, Z:1.39 [[ 9.49060242e-01 -3.14886178e-01 -1.14608864e-02 1.27103512e+02] [ 3.14865548e-01 9.49129423e-01 -3.60908332e-03 1.87137689e+01] [ 1.20143149e-02 -1.83400779e-04 9.99927809e-01 1.38617714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.420281693 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:127.16, Y:18.73, Z:1.38 [[ 9.50411340e-01 -3.10784409e-01 -1.14602098e-02 1.27159719e+02] [ 3.10763455e-01 9.50480423e-01 -3.61123033e-03 1.87273630e+01] [ 1.20150192e-02 -1.29260140e-04 9.99927809e-01 1.38476752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.480281693 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:127.22, Y:18.74, Z:1.38 [[ 9.52021168e-01 -3.05817550e-01 -1.14595350e-02 1.27215476e+02] [ 3.05796209e-01 9.52090133e-01 -3.61337041e-03 1.87421212e+01] [ 1.20155423e-02 -6.42772420e-05 9.99927809e-01 1.38242089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.540281693 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:127.27, Y:18.76, Z:1.38 [[ 9.55041662e-01 -2.96250095e-01 -1.14588637e-02 1.27270807e+02] [ 2.96228038e-01 9.55110401e-01 -3.61549814e-03 1.87588984e+01] [ 1.20155715e-02 5.85146498e-05 9.99927809e-01 1.38384793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.600281693 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:127.33, Y:18.78, Z:1.38 [[ 9.57381924e-01 -2.88597576e-01 -1.14581869e-02 1.27326277e+02] [ 2.88574944e-01 9.57450476e-01 -3.61764179e-03 1.87758592e+01] [ 1.20146891e-02 1.56919235e-04 9.99927809e-01 1.38153467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.660281693 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:127.38, Y:18.80, Z:1.38 [[ 9.58578827e-01 -2.84596835e-01 -1.14575134e-02 1.27380047e+02] [ 2.84573892e-01 9.58647275e-01 -3.61977339e-03 1.87956559e+01] [ 1.20138901e-02 2.09328948e-04 9.99927809e-01 1.38389991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.720281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:127.43, Y:18.82, Z:1.38 [[ 9.58350973e-01 -2.85363181e-01 -1.14572191e-02 1.27434442e+02] [ 2.85340281e-01 9.58419436e-01 -3.62070462e-03 1.88156991e+01] [ 1.20140373e-02 2.00699673e-04 9.99927809e-01 1.38303714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.780281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:127.49, Y:18.84, Z:1.38 [[ 9.58194288e-01 -2.85888884e-01 -1.14565318e-02 1.27488497e+02] [ 2.85865995e-01 9.58262755e-01 -3.62287816e-03 1.88357650e+01] [ 1.20141083e-02 1.96388299e-04 9.99927809e-01 1.38200500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.840281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:127.54, Y:18.86, Z:1.39 [[ 9.58531208e-01 -2.84757241e-01 -1.14558484e-02 1.27542539e+02] [ 2.84734246e-01 9.58599639e-01 -3.62503788e-03 1.88560348e+01] [ 1.20138279e-02 2.12839579e-04 9.99927809e-01 1.38902455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.900281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:127.60, Y:18.88, Z:1.39 [[ 9.58918781e-01 -2.83449361e-01 -1.14556375e-02 1.27597592e+02] [ 2.83426264e-01 9.58987178e-01 -3.62570430e-03 1.88756276e+01] [ 1.20135130e-02 2.29927412e-04 9.99927809e-01 1.38717400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.960281693 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:127.65, Y:18.90, Z:1.38 [[ 9.59526644e-01 -2.81384795e-01 -1.14549659e-02 1.27651239e+02] [ 2.81361526e-01 9.59594983e-01 -3.62782497e-03 1.88962018e+01] [ 1.20129425e-02 2.58008043e-04 9.99927809e-01 1.38421999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.020281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:127.70, Y:18.92, Z:1.39 [[ 9.60574361e-01 -2.77787126e-01 -1.14546755e-02 1.27704554e+02] [ 2.77763590e-01 9.60642608e-01 -3.62874136e-03 1.89192033e+01] [ 1.20118670e-02 3.03984106e-04 9.99927809e-01 1.38584294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.080281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:127.76, Y:18.94, Z:1.39 [[ 9.60591250e-01 -2.77728746e-01 -1.14540197e-02 1.27758662e+02] [ 2.77705181e-01 9.60659487e-01 -3.63081031e-03 1.89411040e+01] [ 1.20117931e-02 3.06883991e-04 9.99927809e-01 1.39083782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.140281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:127.81, Y:18.96, Z:1.39 [[ 9.59413294e-01 -2.81771099e-01 -1.14533617e-02 1.27811003e+02] [ 2.81747797e-01 9.59481621e-01 -3.63288484e-03 1.89642615e+01] [ 1.20129320e-02 2.58478589e-04 9.99927809e-01 1.39192790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.200281693 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:127.86, Y:18.99, Z:1.40 [[ 9.58671943e-01 -2.84283193e-01 -1.14530774e-02 1.27864222e+02] [ 2.84260059e-01 9.58740327e-01 -3.63378076e-03 1.89873175e+01] [ 1.20135500e-02 2.27951195e-04 9.99927809e-01 1.39680176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.260281693 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:127.92, Y:19.01, Z:1.39 [[ 9.58597134e-01 -2.84535368e-01 -1.14524348e-02 1.27916678e+02] [ 2.84512229e-01 9.58665517e-01 -3.63580500e-03 1.90124438e+01] [ 1.20135694e-02 2.26914505e-04 9.99927809e-01 1.39406303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.320281693 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:127.97, Y:19.03, Z:1.39 [[ 9.58041533e-01 -2.86400556e-01 -1.14517706e-02 1.27970625e+02] [ 2.86377524e-01 9.58109952e-01 -3.63789585e-03 1.90321894e+01] [ 1.20139508e-02 2.05725602e-04 9.99927809e-01 1.38917081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.380281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:128.03, Y:19.05, Z:1.38 [[ 9.55986158e-01 -2.93188221e-01 -1.14513207e-02 1.28026183e+02] [ 2.93165658e-01 9.56054733e-01 -3.63931156e-03 1.90497961e+01] [ 1.20150926e-02 1.21997518e-04 9.99927809e-01 1.38404953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.440281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:128.08, Y:19.07, Z:1.39 [[ 9.53584188e-01 -3.00908754e-01 -1.14506820e-02 1.28081603e+02] [ 3.00886723e-01 9.53652935e-01 -3.64131992e-03 1.90666053e+01] [ 1.20156816e-02 2.69469151e-05 9.99927809e-01 1.39363440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.500281693 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:128.14, Y:19.08, Z:1.40 [[ 9.53197526e-01 -3.02131370e-01 -1.14503860e-02 1.28137416e+02] [ 3.02109415e-01 9.53266298e-01 -3.64225051e-03 1.90814049e+01] [ 1.20157052e-02 1.25147557e-05 9.99927809e-01 1.39624937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.560281693 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:128.19, Y:19.10, Z:1.39 [[ 9.53426043e-01 -3.01409493e-01 -1.14497650e-02 1.28193341e+02] [ 3.01387463e-01 9.53494791e-01 -3.64420153e-03 1.90954240e+01] [ 1.20156883e-02 2.36610011e-05 9.99927809e-01 1.39454158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.620281693 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:128.25, Y:19.11, Z:1.40 [[ 9.53496302e-01 -3.01187184e-01 -1.14491218e-02 1.28249868e+02] [ 3.01165114e-01 9.53565037e-01 -3.64622146e-03 1.91073776e+01] [ 1.20156774e-02 2.85826198e-05 9.99927809e-01 1.39598991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.680281693 meters Centerline goodness : 0.999597 with order 1 Centerline is valid? [True, True] Translation: X:128.31, Y:19.12, Z:1.39 [[ 9.52678416e-01 -3.03764328e-01 -1.14484834e-02 1.28307176e+02] [ 3.03742420e-01 9.52747203e-01 -3.64822471e-03 1.91169818e+01] [ 1.20157111e-02 -1.80511071e-06 9.99927809e-01 1.39431572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.740281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:128.37, Y:19.12, Z:1.39 [[ 9.52143424e-01 -3.05437141e-01 -1.14477953e-02 1.28366041e+02] [ 3.05415328e-01 9.52212241e-01 -3.65038255e-03 1.91248251e+01] [ 1.20156932e-02 -2.06444169e-05 9.99927809e-01 1.39430396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.800281693 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:128.42, Y:19.14, Z:1.40 [[ 9.52414499e-01 -3.04590851e-01 -1.14471137e-02 1.28421460e+02] [ 3.04568951e-01 9.52483288e-01 -3.65251876e-03 1.91401092e+01] [ 1.20157083e-02 -7.72358393e-06 9.99927809e-01 1.39698394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.860281693 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:128.48, Y:19.15, Z:1.40 [[ 9.53383360e-01 -3.01544605e-01 -1.14464318e-02 1.28476826e+02] [ 3.01522459e-01 9.53452070e-01 -3.65465450e-03 1.91528731e+01] [ 1.20156654e-02 3.29305147e-05 9.99927809e-01 1.39886637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.920281693 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:128.53, Y:19.16, Z:1.39 [[ 9.54574290e-01 -2.97753103e-01 -1.14461361e-02 1.28534470e+02] [ 2.97730673e-01 9.54642909e-01 -3.65558021e-03 1.91642766e+01] [ 1.20154331e-02 8.16570689e-05 9.99927809e-01 1.39396382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.980281693 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:128.59, Y:19.18, Z:1.40 [[ 9.55547596e-01 -2.94614652e-01 -1.14454408e-02 1.28589864e+02] [ 2.94591971e-01 9.55616132e-01 -3.65775595e-03 1.91782492e+01] [ 1.20150764e-02 1.23424935e-04 9.99927809e-01 1.39728666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.040281693 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:128.65, Y:19.19, Z:1.40 [[ 9.55941168e-01 -2.93335120e-01 -1.14451397e-02 1.28645389e+02] [ 2.93312335e-01 9.56009669e-01 -3.65869789e-03 1.91945667e+01] [ 1.20148888e-02 1.40499282e-04 9.99927809e-01 1.40030814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.100281693 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:128.70, Y:19.21, Z:1.40 [[ 9.56335157e-01 -2.92048099e-01 -1.14444464e-02 1.28699231e+02] [ 2.92025196e-01 9.56403619e-01 -3.66086521e-03 1.92131426e+01] [ 1.20146587e-02 1.58947396e-04 9.99927809e-01 1.39911699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.160281693 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:128.75, Y:19.23, Z:1.40 [[ 9.56186509e-01 -2.92534435e-01 -1.14439741e-02 1.28754448e+02] [ 2.92511550e-01 9.56254977e-01 -3.66234107e-03 1.92317019e+01] [ 1.20147181e-02 1.54386520e-04 9.99927809e-01 1.40018970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.220281693 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:128.81, Y:19.25, Z:1.40 [[ 9.55843849e-01 -2.93652156e-01 -1.14432669e-02 1.28808432e+02] [ 2.93629324e-01 9.55912334e-01 -3.66454937e-03 1.92513249e+01] [ 1.20148628e-02 1.42658235e-04 9.99927809e-01 1.40351424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.280281693 meters Centerline goodness : 0.999514 with order 1 Centerline is valid? [True, True] Translation: X:128.86, Y:19.27, Z:1.40 [[ 9.55199267e-01 -2.95742151e-01 -1.14429620e-02 1.28862552e+02] [ 2.95719458e-01 9.55267798e-01 -3.66550140e-03 1.92704287e+01] [ 1.20151364e-02 1.17377734e-04 9.99927809e-01 1.40241714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.340281693 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:128.92, Y:19.29, Z:1.40 [[ 9.54756570e-01 -2.97168239e-01 -1.14424981e-02 1.28917171e+02] [ 2.97145631e-01 9.54825129e-01 -3.66694878e-03 1.92893755e+01] [ 1.20152855e-02 1.00955112e-04 9.99927809e-01 1.40436524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.400281693 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:128.97, Y:19.31, Z:1.41 [[ 9.54444330e-01 -2.98169591e-01 -1.14418329e-02 1.28972542e+02] [ 2.98147030e-01 9.54512905e-01 -3.66902334e-03 1.93061850e+01] [ 1.20153683e-02 9.05300284e-05 9.99927809e-01 1.40794651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.460281693 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:129.03, Y:19.32, Z:1.40 [[ 9.54110851e-01 -2.99234979e-01 -1.14416280e-02 1.29027882e+02] [ 2.99212487e-01 9.54179449e-01 -3.66966230e-03 1.93242331e+01] [ 1.20154576e-02 7.77866567e-05 9.99927809e-01 1.40452517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.520281693 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:129.08, Y:19.34, Z:1.40 [[ 9.53980423e-01 -2.99650558e-01 -1.14409601e-02 1.29082670e+02] [ 2.99628071e-01 9.54049023e-01 -3.67174325e-03 1.93416666e+01] [ 1.20154767e-02 7.47383658e-05 9.99927809e-01 1.40321237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.580281693 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:129.14, Y:19.36, Z:1.40 [[ 9.53327826e-01 -3.01720352e-01 -1.14405003e-02 1.29138259e+02] [ 3.01697996e-01 9.53396469e-01 -3.67317551e-03 1.93558560e+01] [ 1.20156044e-02 5.01644133e-05 9.99927809e-01 1.40344495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.640281693 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:129.19, Y:19.37, Z:1.40 [[ 9.51912340e-01 -3.06156854e-01 -1.14402097e-02 1.29194958e+02] [ 3.06134807e-01 9.51981082e-01 -3.67408023e-03 1.93681718e+01] [ 1.20157081e-02 -4.84409153e-06 9.99927809e-01 1.39993707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.700281693 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:129.25, Y:19.38, Z:1.40 [[ 9.51103662e-01 -3.08659944e-01 -1.14395578e-02 1.29250580e+02] [ 3.08638054e-01 9.51172454e-01 -3.67610904e-03 1.93800257e+01] [ 1.20156598e-02 -3.43220815e-05 9.99927809e-01 1.40250414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.760281693 meters Centerline goodness : 0.999427 with order 1 Centerline is valid? [True, True] Translation: X:129.31, Y:19.39, Z:1.40 [[ 9.50756552e-01 -3.09727496e-01 -1.14392764e-02 1.29307510e+02] [ 3.09705672e-01 9.50825366e-01 -3.67698422e-03 1.93926341e+01] [ 1.20156173e-02 -4.68919572e-05 9.99927809e-01 1.40450879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.820281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:129.37, Y:19.40, Z:1.40 [[ 9.50144186e-01 -3.11600999e-01 -1.14386419e-02 1.29365026e+02] [ 3.11579288e-01 9.50213036e-01 -3.67895713e-03 1.94037396e+01] [ 1.20155134e-02 -6.85041663e-05 9.99927809e-01 1.40433054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.880281693 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:129.42, Y:19.42, Z:1.41 [[ 9.49287970e-01 -3.14199812e-01 -1.14380059e-02 1.29421298e+02] [ 3.14178266e-01 9.49356871e-01 -3.68093347e-03 1.94154093e+01] [ 1.20152981e-02 -9.93069835e-05 9.99927809e-01 1.41020663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.940281693 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:129.48, Y:19.43, Z:1.41 [[ 9.49539214e-01 -3.13439723e-01 -1.14377309e-02 1.29477689e+02] [ 3.13418111e-01 9.49608094e-01 -3.68178759e-03 1.94293084e+01] [ 1.20153804e-02 -8.87903333e-05 9.99927809e-01 1.41086911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.000281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:129.53, Y:19.45, Z:1.41 [[ 9.50619806e-01 -3.10147026e-01 -1.14370576e-02 1.29533092e+02] [ 3.10125150e-01 9.50688603e-01 -3.68387791e-03 1.94473918e+01] [ 1.20156241e-02 -4.49519156e-05 9.99927809e-01 1.40970448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.060281693 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:129.59, Y:19.47, Z:1.41 [[ 9.52691320e-01 -3.03724312e-01 -1.14363868e-02 1.29586730e+02] [ 3.03701947e-01 9.52759960e-01 -3.68595935e-03 1.94680391e+01] [ 1.20156469e-02 3.83285414e-05 9.99927809e-01 1.40869662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.120281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:129.64, Y:19.49, Z:1.41 [[ 9.53843161e-01 -3.00087394e-01 -1.14359327e-02 1.29640400e+02] [ 3.00064751e-01 9.53911709e-01 -3.68736767e-03 1.94906360e+01] [ 1.20154027e-02 8.56501301e-05 9.99927809e-01 1.40929511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.180281693 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:129.69, Y:19.51, Z:1.41 [[ 9.54735000e-01 -2.97237809e-01 -1.14352676e-02 1.29692515e+02] [ 2.97214936e-01 9.54803472e-01 -3.68942920e-03 1.95141983e+01] [ 1.20150710e-02 1.23694866e-04 9.99927809e-01 1.41212108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.240281693 meters Centerline goodness : 0.999471 with order 1 Centerline is valid? [True, True] Translation: X:129.75, Y:19.54, Z:1.41 [[ 9.55454706e-01 -2.94916166e-01 -1.14349792e-02 1.29745199e+02] [ 2.94893117e-01 9.55523119e-01 -3.69032271e-03 1.95398727e+01] [ 1.20147228e-02 1.53839541e-04 9.99927809e-01 1.40932529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.300281693 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:129.80, Y:19.56, Z:1.41 [[ 9.55585374e-01 -2.94492530e-01 -1.14342986e-02 1.29798255e+02] [ 2.94469425e-01 9.55653768e-01 -3.69243024e-03 1.95612068e+01] [ 1.20146237e-02 1.61380989e-04 9.99927809e-01 1.40828806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.360281693 meters Centerline goodness : 0.999430 with order 1 Centerline is valid? [True, True] Translation: X:129.85, Y:19.58, Z:1.41 [[ 9.55669394e-01 -2.94219771e-01 -1.14340044e-02 1.29852053e+02] [ 2.94196636e-01 9.55737777e-01 -3.69334125e-03 1.95843865e+01] [ 1.20145639e-02 1.65767567e-04 9.99927809e-01 1.40760396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.420281693 meters Centerline goodness : 0.999193 with order 1 Centerline is valid? [True, True] Translation: X:129.91, Y:19.61, Z:1.41 [[ 9.56056878e-01 -2.92958230e-01 -1.14333093e-02 1.29905525e+02] [ 2.92934979e-01 9.56125223e-01 -3.69549178e-03 1.96079547e+01] [ 1.20143001e-02 1.83884120e-04 9.99927809e-01 1.41030943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.480281693 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:129.96, Y:19.63, Z:1.41 [[ 9.55953997e-01 -2.93293796e-01 -1.14326064e-02 1.29956757e+02] [ 2.93270543e-01 9.56022341e-01 -3.69766508e-03 1.96334579e+01] [ 1.20143293e-02 1.81951030e-04 9.99927809e-01 1.41172272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.540281693 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:130.01, Y:19.66, Z:1.41 [[ 9.55104391e-01 -2.96048829e-01 -1.14321293e-02 1.30009019e+02] [ 2.96025755e-01 9.55172795e-01 -3.69913941e-03 1.96568852e+01] [ 1.20147848e-02 1.48859576e-04 9.99927809e-01 1.41336982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.600281693 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:130.06, Y:19.68, Z:1.41 [[ 9.54010956e-01 -2.99553683e-01 -1.14318338e-02 1.30063349e+02] [ 2.99530849e-01 9.54079441e-01 -3.70005238e-03 1.96769459e+01] [ 1.20152419e-02 1.05703613e-04 9.99927809e-01 1.41285249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.660281693 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:130.12, Y:19.70, Z:1.41 [[ 9.52368612e-01 -3.04734895e-01 -1.14311483e-02 1.30116555e+02] [ 3.04712408e-01 9.52437212e-01 -3.70216898e-03 1.96968172e+01] [ 1.20156311e-02 4.26167966e-05 9.99927809e-01 1.41285769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.720281693 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:130.17, Y:19.71, Z:1.41 [[ 9.50189423e-01 -3.11463314e-01 -1.14308522e-02 1.30171328e+02] [ 3.11441303e-01 9.50258177e-01 -3.70308297e-03 1.97142890e+01] [ 1.20156353e-02 -4.14092368e-05 9.99927809e-01 1.41480118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.780281693 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:130.23, Y:19.73, Z:1.41 [[ 9.48732303e-01 -3.15873975e-01 -1.14301820e-02 1.30227078e+02] [ 3.15852258e-01 9.48801150e-01 -3.70515071e-03 1.97309351e+01] [ 1.20153305e-02 -9.50526207e-05 9.99927809e-01 1.41269851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.840281693 meters Centerline goodness : 0.998485 with order 1 Centerline is valid? [True, True] Translation: X:130.28, Y:19.75, Z:1.42 [[ 9.46663040e-01 -3.22022444e-01 -1.14294854e-02 1.30283070e+02] [ 3.22001149e-01 9.46732019e-01 -3.70729808e-03 1.97458287e+01] [ 1.20144930e-02 -1.70745370e-04 9.99927809e-01 1.42174215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.900281693 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:130.34, Y:19.76, Z:1.42 [[ 9.45038427e-01 -3.26759474e-01 -1.14287600e-02 1.30338559e+02] [ 3.26738497e-01 9.45107504e-01 -3.70953316e-03 1.97588619e+01] [ 1.20135319e-02 -2.28564474e-04 9.99927809e-01 1.41616100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.960281693 meters Centerline goodness : 0.999447 with order 1 Centerline is valid? [True, True] Translation: X:130.40, Y:19.77, Z:1.42 [[ 9.45583433e-01 -3.25178969e-01 -1.14284471e-02 1.30395129e+02] [ 3.25157865e-01 9.45652470e-01 -3.71049684e-03 1.97723678e+01] [ 1.20139148e-02 -2.07465126e-04 9.99927809e-01 1.41512874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.020281693 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:130.45, Y:19.79, Z:1.41 [[ 9.46554794e-01 -3.22340546e-01 -1.14277566e-02 1.30450406e+02] [ 3.22319210e-01 9.46623760e-01 -3.71262221e-03 1.97895753e+01] [ 1.20145146e-02 -1.69185130e-04 9.99927809e-01 1.41243281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.080281693 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:130.51, Y:19.80, Z:1.41 [[ 9.46106536e-01 -3.23653896e-01 -1.14270650e-02 1.30507674e+02] [ 3.23632629e-01 9.46175524e-01 -3.71474969e-03 1.98019249e+01] [ 1.20143024e-02 -1.83622128e-04 9.99927809e-01 1.41005787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.140281693 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:130.57, Y:19.81, Z:1.42 [[ 9.44444683e-01 -3.28471731e-01 -1.14263650e-02 1.30566082e+02] [ 3.28450790e-01 9.44513771e-01 -3.71690155e-03 1.98117669e+01] [ 1.20132562e-02 -2.42590715e-04 9.99927809e-01 1.41520824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.200281693 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:130.62, Y:19.82, Z:1.42 [[ 9.44523269e-01 -3.28245711e-01 -1.14257437e-02 1.30621963e+02] [ 3.28224731e-01 9.44592344e-01 -3.71881051e-03 1.98229872e+01] [ 1.20133536e-02 -2.37708592e-04 9.99927809e-01 1.42004047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.260281693 meters Centerline goodness : 0.999428 with order 1 Centerline is valid? [True, True] Translation: X:130.68, Y:19.84, Z:1.42 [[ 9.47980680e-01 -3.18122766e-01 -1.14252627e-02 1.30676527e+02] [ 3.18101030e-01 9.48049521e-01 -3.72028756e-03 1.98406140e+01] [ 1.20152230e-02 -1.07627117e-04 9.99927809e-01 1.41803314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.320281693 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:130.73, Y:19.86, Z:1.42 [[ 9.50443377e-01 -3.10687717e-01 -1.14249591e-02 1.30731620e+02] [ 3.10665431e-01 9.50512042e-01 -3.72121979e-03 1.98592794e+01] [ 1.20156985e-02 -1.25311423e-05 9.99927809e-01 1.41982581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.380281693 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:130.79, Y:19.88, Z:1.42 [[ 9.51886454e-01 -3.06237923e-01 -1.14242622e-02 1.30786007e+02] [ 3.06215290e-01 9.51955006e-01 -3.72335815e-03 1.98751545e+01] [ 1.20156170e-02 4.59304320e-05 9.99927809e-01 1.42195985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.440281693 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:130.84, Y:19.89, Z:1.42 [[ 9.51002836e-01 -3.08971033e-01 -1.14239603e-02 1.30841578e+02] [ 3.08948587e-01 9.51071449e-01 -3.72428422e-03 1.98922951e+01] [ 1.20156984e-02 1.23884687e-05 9.99927809e-01 1.41748420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.500281693 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:130.90, Y:19.91, Z:1.42 [[ 9.52359502e-01 -3.04763661e-01 -1.14232337e-02 1.30896076e+02] [ 3.04740885e-01 9.52428006e-01 -3.72651160e-03 1.99091043e+01] [ 1.20155130e-02 6.78523947e-05 9.99927809e-01 1.41859172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.560281693 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:130.95, Y:19.93, Z:1.42 [[ 9.54211768e-01 -2.98913732e-01 -1.14229206e-02 1.30949992e+02] [ 2.98890525e-01 9.54280127e-01 -3.72747100e-03 1.99270034e+01] [ 1.20148584e-02 1.42593965e-04 9.99927809e-01 1.41887178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.620281693 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:131.00, Y:19.95, Z:1.42 [[ 9.56236053e-01 -2.92373286e-01 -1.14224574e-02 1.31004213e+02] [ 2.92349594e-01 9.56304246e-01 -3.72888979e-03 1.99459791e+01] [ 1.20135723e-02 2.26348062e-04 9.99927809e-01 1.42405430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.680281693 meters Centerline goodness : 0.999431 with order 1 Centerline is valid? [True, True] Translation: X:131.06, Y:19.97, Z:1.42 [[ 9.56872626e-01 -2.90283156e-01 -1.14222479e-02 1.31057727e+02] [ 2.90259307e-01 9.56940764e-01 -3.72953145e-03 1.99685038e+01] [ 1.20130348e-02 2.53272785e-04 9.99927809e-01 1.42408032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.740281693 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:131.11, Y:19.99, Z:1.43 [[ 9.57213565e-01 -2.89156944e-01 -1.14215749e-02 1.31111623e+02] [ 2.89132991e-01 9.57281666e-01 -3.73159132e-03 1.99904416e+01] [ 1.20126798e-02 2.69575712e-04 9.99927809e-01 1.42658702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.800281693 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:131.17, Y:20.01, Z:1.43 [[ 9.56852105e-01 -2.90350843e-01 -1.14208800e-02 1.31165808e+02] [ 2.90326949e-01 9.56920228e-01 -3.73371695e-03 2.00124078e+01] [ 1.20129590e-02 2.56825677e-04 9.99927809e-01 1.42579287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.860281693 meters Centerline goodness : 0.999532 with order 1 Centerline is valid? [True, True] Translation: X:131.22, Y:20.04, Z:1.42 [[ 9.55166423e-01 -2.95849089e-01 -1.14201624e-02 1.31219442e+02] [ 2.95825561e-01 9.55234673e-01 -3.73591068e-03 2.00353986e+01] [ 1.20142008e-02 1.90040499e-04 9.99927809e-01 1.41820562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.920281693 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:131.27, Y:20.06, Z:1.43 [[ 9.53108291e-01 -3.02413909e-01 -1.14198330e-02 1.31274092e+02] [ 3.02390839e-01 9.53176697e-01 -3.73691706e-03 2.00565379e+01] [ 1.20152144e-02 1.08433740e-04 9.99927809e-01 1.42577100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.980281693 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:131.33, Y:20.08, Z:1.43 [[ 9.52512221e-01 -3.04286165e-01 -1.14192403e-02 1.31327993e+02] [ 3.04263207e-01 9.52580665e-01 -3.73872755e-03 2.00766822e+01] [ 1.20153906e-02 8.67290062e-05 9.99927809e-01 1.42582396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.040281693 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:131.38, Y:20.10, Z:1.43 [[ 9.51833297e-01 -3.06403314e-01 -1.14185660e-02 1.31381905e+02] [ 3.06380485e-01 9.51901783e-01 -3.74078575e-03 2.00967925e+01] [ 1.20155425e-02 6.21786460e-05 9.99927809e-01 1.42878859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.100281693 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:131.44, Y:20.11, Z:1.43 [[ 9.50933339e-01 -3.09185086e-01 -1.14178805e-02 1.31437767e+02] [ 3.09162432e-01 9.51001883e-01 -3.74287703e-03 2.01131938e+01] [ 1.20156676e-02 2.92468581e-05 9.99927809e-01 1.43275419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.160281693 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:131.49, Y:20.13, Z:1.43 [[ 9.50895013e-01 -3.09302960e-01 -1.14172034e-02 1.31493892e+02] [ 3.09280289e-01 9.50963552e-01 -3.74494111e-03 2.01266634e+01] [ 1.20156657e-02 2.99298533e-05 9.99927809e-01 1.43205104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.220281693 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:131.55, Y:20.14, Z:1.43 [[ 9.51201291e-01 -3.08359801e-01 -1.14165331e-02 1.31549919e+02] [ 3.08337038e-01 9.51269799e-01 -3.74698345e-03 2.01418742e+01] [ 1.20156222e-02 4.39954852e-05 9.99927809e-01 1.43198003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.280281693 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:131.61, Y:20.16, Z:1.43 [[ 9.52878379e-01 -3.03137715e-01 -1.14158385e-02 1.31605087e+02] [ 3.03114551e-01 9.52946752e-01 -3.74909840e-03 2.01554851e+01] [ 1.20151794e-02 1.12128030e-04 9.99927809e-01 1.42988203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.340281693 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:131.66, Y:20.17, Z:1.43 [[ 9.55088520e-01 -2.96100665e-01 -1.14155386e-02 1.31660279e+02] [ 2.96076987e-01 9.55156718e-01 -3.75001142e-03 2.01720581e+01] [ 1.20140093e-02 2.01714579e-04 9.99927809e-01 1.43449748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.400281693 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:131.72, Y:20.19, Z:1.44 [[ 9.56144496e-01 -2.92672842e-01 -1.14153271e-02 1.31715003e+02] [ 2.92648911e-01 9.56212606e-01 -3.75065529e-03 2.01896404e+01] [ 1.20131946e-02 2.45485373e-04 9.99927809e-01 1.43679846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.460281693 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:131.77, Y:20.21, Z:1.43 [[ 9.56072043e-01 -2.92909463e-01 -1.14146566e-02 1.31769254e+02] [ 2.92885525e-01 9.56140150e-01 -3.75269459e-03 2.02095776e+01] [ 1.20132113e-02 2.44658679e-04 9.99927809e-01 1.43428112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.520281693 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:131.82, Y:20.23, Z:1.44 [[ 9.54541969e-01 -2.97857937e-01 -1.14139871e-02 1.31824171e+02] [ 2.97834328e-01 9.54610190e-01 -3.75472998e-03 2.02268042e+01] [ 1.20142845e-02 1.84570175e-04 9.99927809e-01 1.43720280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.580281693 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:131.88, Y:20.24, Z:1.44 [[ 9.52651649e-01 -3.03849589e-01 -1.14132622e-02 1.31879169e+02] [ 3.03826383e-01 9.52720009e-01 -3.75693211e-03 2.02412261e+01] [ 1.20151855e-02 1.11397407e-04 9.99927809e-01 1.43531021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.640281693 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:131.94, Y:20.25, Z:1.43 [[ 9.50552344e-01 -3.10354614e-01 -1.14129490e-02 1.31935419e+02] [ 3.10331864e-01 9.50620856e-01 -3.75788337e-03 2.02549245e+01] [ 1.20156638e-02 3.02631184e-05 9.99927809e-01 1.43265071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.700281693 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:131.99, Y:20.27, Z:1.43 [[ 9.48514130e-01 -3.16529156e-01 -1.14122144e-02 1.31991949e+02] [ 3.16506825e-01 9.48582781e-01 -3.76011275e-03 2.02667156e+01] [ 1.20156154e-02 -4.55236758e-05 9.99927809e-01 1.43384233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.760281693 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:132.05, Y:20.28, Z:1.44 [[ 9.48770145e-01 -3.15760955e-01 -1.14118966e-02 1.32047011e+02] [ 3.15738556e-01 9.48838774e-01 -3.76107708e-03 2.02804185e+01] [ 1.20156513e-02 -3.47781171e-05 9.99927809e-01 1.43527971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.820281693 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:132.10, Y:20.29, Z:1.44 [[ 9.50289564e-01 -3.11158352e-01 -1.14115905e-02 1.32103445e+02] [ 3.11135610e-01 9.50358080e-01 -3.76200574e-03 2.02948579e+01] [ 1.20156767e-02 2.44426325e-05 9.99927809e-01 1.43752834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.880281693 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:132.16, Y:20.31, Z:1.43 [[ 9.51193599e-01 -3.08383735e-01 -1.14108864e-02 1.32158900e+02] [ 3.08360768e-01 9.51262040e-01 -3.76414004e-03 2.03122015e+01] [ 1.20155427e-02 6.17562109e-05 9.99927809e-01 1.43421411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.940281693 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:132.21, Y:20.33, Z:1.44 [[ 9.50725095e-01 -3.09825097e-01 -1.14106678e-02 1.32213523e+02] [ 3.09802225e-01 9.50793567e-01 -3.76480266e-03 2.03303384e+01] [ 1.20156199e-02 4.42420947e-05 9.99927809e-01 1.43861218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.000281693 meters Centerline goodness : 0.999470 with order 1 Centerline is valid? [True, True] Translation: X:132.27, Y:20.35, Z:1.44 [[ 9.50308201e-01 -3.11101488e-01 -1.14099552e-02 1.32267876e+02] [ 3.11078683e-01 9.50376695e-01 -3.76696114e-03 2.03472138e+01] [ 1.20156627e-02 3.03802344e-05 9.99927809e-01 1.44206553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.060281693 meters Centerline goodness : 0.999365 with order 1 Centerline is valid? [True, True] Translation: X:132.33, Y:20.36, Z:1.44 [[ 9.49519540e-01 -3.13500341e-01 -1.14096476e-02 1.32325557e+02] [ 3.13477697e-01 9.49588088e-01 -3.76789263e-03 2.03615703e+01] [ 1.20157010e-02 1.01763117e-06 9.99927809e-01 1.43534950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.120281693 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:132.38, Y:20.38, Z:1.44 [[ 9.50048288e-01 -3.11894349e-01 -1.14090376e-02 1.32379812e+02] [ 3.11871567e-01 9.50116790e-01 -3.76973877e-03 2.03784262e+01] [ 1.20156784e-02 2.32794333e-05 9.99927809e-01 1.43586262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.180281693 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:132.44, Y:20.40, Z:1.45 [[ 9.51101477e-01 -3.08667816e-01 -1.14087372e-02 1.32435604e+02] [ 3.08644791e-01 9.51169898e-01 -3.77064752e-03 2.03950690e+01] [ 1.20155250e-02 6.50211011e-05 9.99927809e-01 1.44739594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.240281693 meters Centerline goodness : 0.999578 with order 1 Centerline is valid? [True, True] Translation: X:132.49, Y:20.41, Z:1.45 [[ 9.51203593e-01 -3.08352995e-01 -1.14085222e-02 1.32490153e+02] [ 3.08329939e-01 9.51272004e-01 -3.77129811e-03 2.04115911e+01] [ 1.20154988e-02 6.96833725e-05 9.99927809e-01 1.44843270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.300281693 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:132.55, Y:20.43, Z:1.44 [[ 9.50896826e-01 -3.09297718e-01 -1.14082247e-02 1.32546423e+02] [ 3.09274720e-01 9.50965256e-01 -3.77219768e-03 2.04257271e+01] [ 1.20155575e-02 5.86952979e-05 9.99927809e-01 1.44483999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.360281693 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:132.60, Y:20.44, Z:1.44 [[ 9.50201385e-01 -3.11427677e-01 -1.14075005e-02 1.32602185e+02] [ 3.11404805e-01 9.50269857e-01 -3.77438660e-03 2.04382576e+01] [ 1.20156523e-02 3.40769122e-05 9.99927809e-01 1.44340573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.420281693 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:132.66, Y:20.45, Z:1.45 [[ 9.49340521e-01 -3.14042117e-01 -1.14071871e-02 1.32660257e+02] [ 3.14019423e-01 9.49409052e-01 -3.77533334e-03 2.04462871e+01] [ 1.20157004e-02 1.99859664e-06 9.99927809e-01 1.44515574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.480281693 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:132.72, Y:20.46, Z:1.44 [[ 9.49348327e-01 -3.14018543e-01 -1.14065027e-02 1.32717077e+02] [ 3.13995823e-01 9.49416850e-01 -3.77740004e-03 2.04580364e+01] [ 1.20156995e-02 4.47420208e-06 9.99927809e-01 1.44425289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.540281693 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:132.77, Y:20.47, Z:1.44 [[ 9.49569481e-01 -3.13349178e-01 -1.14058208e-02 1.32774428e+02] [ 3.13326385e-01 9.49637980e-01 -3.77945804e-03 2.04656651e+01] [ 1.20156907e-02 1.51134178e-05 9.99927809e-01 1.44262567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.600281693 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:132.83, Y:20.47, Z:1.44 [[ 9.49771783e-01 -3.12735470e-01 -1.14055245e-02 1.32832748e+02] [ 3.12712622e-01 9.49840263e-01 -3.78035177e-03 2.04744279e+01] [ 1.20156765e-02 2.38199508e-05 9.99927809e-01 1.44122966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.660281693 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:132.89, Y:20.49, Z:1.44 [[ 9.50199786e-01 -3.11432651e-01 -1.14048538e-02 1.32889554e+02] [ 3.11409684e-01 9.50268226e-01 -3.78237411e-03 2.04868849e+01] [ 1.20156250e-02 4.24291304e-05 9.99927809e-01 1.44321437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.720281693 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:132.95, Y:20.50, Z:1.44 [[ 9.51727897e-01 -3.06731077e-01 -1.14041893e-02 1.32945131e+02] [ 3.06707749e-01 9.51796215e-01 -3.78437661e-03 2.05002643e+01] [ 1.20152502e-02 1.03943553e-04 9.99927809e-01 1.44282747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.780281693 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:133.00, Y:20.51, Z:1.45 [[ 9.53085640e-01 -3.02485892e-01 -1.14039015e-02 1.33002288e+02] [ 3.02462249e-01 9.53153849e-01 -3.78524379e-03 2.05109425e+01] [ 1.20146555e-02 1.58411814e-04 9.99927809e-01 1.44676026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.840281693 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:133.06, Y:20.53, Z:1.44 [[ 9.53356342e-01 -3.01631648e-01 -1.14032335e-02 1.33058329e+02] [ 3.01607920e-01 9.53424522e-01 -3.78725501e-03 2.05263969e+01] [ 1.20144784e-02 1.71298038e-04 9.99927809e-01 1.44446657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.900281693 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:133.11, Y:20.54, Z:1.45 [[ 9.52950928e-01 -3.02910071e-01 -1.14025742e-02 1.33114118e+02] [ 3.02886410e-01 9.53019131e-01 -3.78923893e-03 2.05431262e+01] [ 1.20146700e-02 1.57273971e-04 9.99927809e-01 1.44530364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.960281693 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:133.17, Y:20.56, Z:1.45 [[ 9.52707494e-01 -3.03674872e-01 -1.14019169e-02 1.33169064e+02] [ 3.03651243e-01 9.52775708e-01 -3.79121586e-03 2.05619673e+01] [ 1.20147664e-02 1.49713526e-04 9.99927809e-01 1.44846783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.020281693 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:133.22, Y:20.58, Z:1.45 [[ 9.53059727e-01 -3.02567625e-01 -1.14012547e-02 1.33223258e+02] [ 3.02543892e-01 9.53127906e-01 -3.79320616e-03 2.05817740e+01] [ 1.20145554e-02 1.65772056e-04 9.99927809e-01 1.45122953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.080281693 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:133.28, Y:20.60, Z:1.45 [[ 9.53232460e-01 -3.02023021e-01 -1.14005323e-02 1.33276544e+02] [ 3.01999223e-01 9.53300616e-01 -3.79537622e-03 2.06033443e+01] [ 1.20144254e-02 1.74923916e-04 9.99927809e-01 1.45141921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.140281693 meters Centerline goodness : 0.999530 with order 1 Centerline is valid? [True, True] Translation: X:133.33, Y:20.62, Z:1.45 [[ 9.52803466e-01 -3.03373680e-01 -1.14002202e-02 1.33330672e+02] [ 3.03349968e-01 9.52871652e-01 -3.79631337e-03 2.06245613e+01] [ 1.20146482e-02 1.58884096e-04 9.99927809e-01 1.44913667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.200281693 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:133.38, Y:20.64, Z:1.45 [[ 9.51928221e-01 -3.06108989e-01 -1.13995018e-02 1.33384890e+02] [ 3.06085447e-01 9.51996466e-01 -3.79846951e-03 2.06442087e+01] [ 1.20150310e-02 1.26648732e-04 9.99927809e-01 1.45109111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.260281693 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:133.44, Y:20.66, Z:1.45 [[ 9.50272365e-01 -3.11211342e-01 -1.13987762e-02 1.33438128e+02] [ 3.11188141e-01 9.50340726e-01 -3.80064553e-03 2.06647054e+01] [ 1.20155253e-02 6.44844411e-05 9.99927809e-01 1.45335390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.320281693 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:133.49, Y:20.68, Z:1.46 [[ 9.49232560e-01 -3.14368608e-01 -1.13984615e-02 1.33492299e+02] [ 3.14345622e-01 9.49300994e-01 -3.80158930e-03 2.06844902e+01] [ 1.20156711e-02 2.55358898e-05 9.99927809e-01 1.45645872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.380281693 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:133.55, Y:20.70, Z:1.45 [[ 9.48016515e-01 -3.18016946e-01 -1.13977477e-02 1.33547334e+02] [ 3.17994198e-01 9.48085029e-01 -3.80372809e-03 2.07018123e+01] [ 1.20156839e-02 -1.84205869e-05 9.99927809e-01 1.45456233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.440281693 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:133.60, Y:20.72, Z:1.45 [[ 9.46769918e-01 -3.21709234e-01 -1.13970291e-02 1.33602547e+02] [ 3.21686727e-01 9.46838511e-01 -3.80587987e-03 2.07170779e+01] [ 1.20155328e-02 -6.29804200e-05 9.99927809e-01 1.45383937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.500281693 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:133.66, Y:20.73, Z:1.46 [[ 9.46321184e-01 -3.23026834e-01 -1.13965421e-02 1.33657471e+02] [ 3.23004405e-01 9.46389803e-01 -3.80733775e-03 2.07348544e+01] [ 1.20154435e-02 -7.81689243e-05 9.99927809e-01 1.45646349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.560281693 meters Centerline goodness : 0.999471 with order 1 Centerline is valid? [True, True] Translation: X:133.71, Y:20.75, Z:1.46 [[ 9.45896581e-01 -3.24268087e-01 -1.13958291e-02 1.33713210e+02] [ 3.24245723e-01 9.45965221e-01 -3.80947044e-03 2.07506428e+01] [ 1.20153477e-02 -9.16837951e-05 9.99927809e-01 1.45851054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.620281693 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:133.77, Y:20.77, Z:1.46 [[ 9.46378251e-01 -3.22859657e-01 -1.13951191e-02 1.33769021e+02] [ 3.22837165e-01 9.46446848e-01 -3.81159316e-03 2.07672248e+01] [ 1.20154842e-02 -7.15590797e-05 9.99927809e-01 1.45848310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.680281693 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:133.82, Y:20.78, Z:1.46 [[ 9.47135262e-01 -3.20632132e-01 -1.13943869e-02 1.33823579e+02] [ 3.20609452e-01 9.47203798e-01 -3.81378067e-03 2.07829069e+01] [ 1.20156272e-02 -4.09819988e-05 9.99927809e-01 1.45873830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.740281693 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:133.88, Y:20.80, Z:1.46 [[ 9.47925195e-01 -3.18289178e-01 -1.13940692e-02 1.33879540e+02] [ 3.18266317e-01 9.47993671e-01 -3.81472976e-03 2.07984291e+01] [ 1.20156927e-02 -1.02699852e-05 9.99927809e-01 1.45802528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.800281693 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:133.94, Y:20.81, Z:1.46 [[ 9.48232225e-01 -3.17373342e-01 -1.13933588e-02 1.33935253e+02] [ 3.17350390e-01 9.48300670e-01 -3.81685027e-03 2.08139307e+01] [ 1.20156963e-02 3.57356441e-06 9.99927809e-01 1.45730582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.860281693 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:133.99, Y:20.83, Z:1.46 [[ 9.49194322e-01 -3.14484254e-01 -1.13926448e-02 1.33989427e+02] [ 3.14461068e-01 9.49262689e-01 -3.81898011e-03 2.08303134e+01] [ 1.20156218e-02 4.24109727e-05 9.99927809e-01 1.45826676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.920281693 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:134.04, Y:20.85, Z:1.46 [[ 9.49042999e-01 -3.14940637e-01 -1.13921612e-02 1.34044689e+02] [ 3.14917466e-01 9.49111371e-01 -3.82042228e-03 2.08486128e+01] [ 1.20156360e-02 3.81544718e-05 9.99927809e-01 1.46076252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.980281693 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:134.10, Y:20.87, Z:1.46 [[ 9.47222938e-01 -3.20373129e-01 -1.13914086e-02 1.34098847e+02] [ 3.20350324e-01 9.47291432e-01 -3.82266510e-03 2.08660180e+01] [ 1.20156629e-02 -2.83253615e-05 9.99927809e-01 1.46179154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.040281693 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:134.16, Y:20.88, Z:1.46 [[ 9.45380837e-01 -3.25768808e-01 -1.13910829e-02 1.34155648e+02] [ 3.25746382e-01 9.45449456e-01 -3.82363545e-03 2.08803366e+01] [ 1.20153143e-02 -9.58123505e-05 9.99927809e-01 1.45816059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.100281693 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:134.21, Y:20.90, Z:1.46 [[ 9.43958816e-01 -3.29866660e-01 -1.13903473e-02 1.34210227e+02] [ 3.29844505e-01 9.44027524e-01 -3.82582546e-03 2.08958708e+01] [ 1.20148136e-02 -1.45621791e-04 9.99927809e-01 1.45719357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.160281693 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:134.27, Y:20.91, Z:1.46 [[ 9.42216950e-01 -3.34809627e-01 -1.13900300e-02 1.34267382e+02] [ 3.34787822e-01 9.42285769e-01 -3.82676965e-03 2.09087237e+01] [ 1.20139025e-02 -2.07596119e-04 9.99927809e-01 1.45919618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.220281693 meters Centerline goodness : 0.999470 with order 1 Centerline is valid? [True, True] Translation: X:134.32, Y:20.92, Z:1.46 [[ 9.41641597e-01 -3.36424413e-01 -1.13893425e-02 1.34324194e+02] [ 3.36402701e-01 9.41710445e-01 -3.82881490e-03 2.09209307e+01] [ 1.20135696e-02 -2.26034197e-04 9.99927809e-01 1.46019731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.280281693 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:134.38, Y:20.93, Z:1.47 [[ 9.42328530e-01 -3.34495501e-01 -1.13886365e-02 1.34381610e+02] [ 3.34473622e-01 9.42397326e-01 -3.83091367e-03 2.09309742e+01] [ 1.20140440e-02 -1.99219251e-04 9.99927809e-01 1.46505977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.340281693 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:134.44, Y:20.94, Z:1.47 [[ 9.43693931e-01 -3.30623775e-01 -1.13879128e-02 1.34439031e+02] [ 3.30601588e-01 9.43762628e-01 -3.83306374e-03 2.09419960e+01] [ 1.20147885e-02 -1.47623070e-04 9.99927809e-01 1.46929058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.400281693 meters Centerline goodness : 0.999514 with order 1 Centerline is valid? [True, True] Translation: X:134.50, Y:20.95, Z:1.46 [[ 9.45251587e-01 -3.26143785e-01 -1.13871860e-02 1.34497273e+02] [ 3.26121247e-01 9.45320170e-01 -3.83522181e-03 2.09515614e+01] [ 1.20153703e-02 -8.83537815e-05 9.99927809e-01 1.46371999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.460281693 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:134.55, Y:20.96, Z:1.46 [[ 9.45254407e-01 -3.26135621e-01 -1.13869615e-02 1.34552728e+02] [ 3.26113074e-01 9.45322987e-01 -3.83588820e-03 2.09643586e+01] [ 1.20153762e-02 -8.75467898e-05 9.99927809e-01 1.46416957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.520281693 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:134.61, Y:20.98, Z:1.47 [[ 9.45203878e-01 -3.26282052e-01 -1.13864830e-02 1.34609005e+02] [ 3.26259499e-01 9.45272455e-01 -3.83730808e-03 2.09787508e+01] [ 1.20153735e-02 -8.79097431e-05 9.99927809e-01 1.46810822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.580281693 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:134.66, Y:20.99, Z:1.47 [[ 9.47442479e-01 -3.19723497e-01 -1.13857532e-02 1.34664065e+02] [ 3.19700442e-01 9.47510889e-01 -3.83947212e-03 2.09944294e+01] [ 1.20156946e-02 -2.35136182e-06 9.99927809e-01 1.46613198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.640281693 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:134.72, Y:21.01, Z:1.47 [[ 9.49308394e-01 -3.14140008e-01 -1.13854360e-02 1.34717231e+02] [ 3.14116540e-01 9.49376664e-01 -3.84041253e-03 2.10148049e+01] [ 1.20154945e-02 6.93820836e-05 9.99927809e-01 1.47036310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.700281693 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:134.77, Y:21.04, Z:1.47 [[ 9.49972393e-01 -3.12126307e-01 -1.13851264e-02 1.34771455e+02] [ 3.12102684e-01 9.50040609e-01 -3.84133007e-03 2.10356744e+01] [ 1.20153126e-02 9.58290019e-05 9.99927809e-01 1.46871251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.760281693 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:134.83, Y:21.06, Z:1.47 [[ 9.49725117e-01 -3.12877928e-01 -1.13844298e-02 1.34825996e+02] [ 3.12854333e-01 9.49793343e-01 -3.84339357e-03 2.10567805e+01] [ 1.20153686e-02 8.84992124e-05 9.99927809e-01 1.46956981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.820281693 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:134.88, Y:21.08, Z:1.47 [[ 9.48458406e-01 -3.16697116e-01 -1.13836771e-02 1.34879287e+02] [ 3.16673770e-01 9.48526718e-01 -3.84562153e-03 2.10783222e+01] [ 1.20156192e-02 4.25001149e-05 9.99927809e-01 1.47031033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.880281693 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:134.93, Y:21.10, Z:1.47 [[ 9.47834492e-01 -3.18559569e-01 -1.13831677e-02 1.34933198e+02] [ 3.18536338e-01 9.47902844e-01 -3.84712883e-03 2.11003607e+01] [ 1.20156768e-02 2.04888286e-05 9.99927809e-01 1.47432626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.940281693 meters Centerline goodness : 0.999341 with order 1 Centerline is valid? [True, True] Translation: X:134.99, Y:21.12, Z:1.48 [[ 9.48320825e-01 -3.17108899e-01 -1.13824275e-02 1.34985810e+02] [ 3.17085538e-01 9.48389131e-01 -3.84931768e-03 2.11224437e+01] [ 1.20156234e-02 4.11849744e-05 9.99927809e-01 1.47553564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.000281693 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:135.04, Y:21.14, Z:1.47 [[ 9.48342830e-01 -3.17043094e-01 -1.13821070e-02 1.35040234e+02] [ 3.17019717e-01 9.48411132e-01 -3.85026524e-03 2.11431074e+01] [ 1.20156170e-02 4.30191097e-05 9.99927809e-01 1.47395177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.060281693 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:135.09, Y:21.16, Z:1.47 [[ 9.47245628e-01 -3.20306372e-01 -1.13818815e-02 1.35094709e+02] [ 3.20283222e-01 9.47314007e-01 -3.85093174e-03 2.11636955e+01] [ 1.20156937e-02 2.35258720e-06 9.99927809e-01 1.47293300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.120281693 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:135.15, Y:21.18, Z:1.48 [[ 9.46276859e-01 -3.23157199e-01 -1.13811468e-02 1.35148167e+02] [ 3.23134229e-01 9.46345298e-01 -3.85310169e-03 2.11836985e+01] [ 1.20156523e-02 -3.15371335e-05 9.99927809e-01 1.47794884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.180281693 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:135.20, Y:21.20, Z:1.47 [[ 9.45616150e-01 -3.25085494e-01 -1.13806477e-02 1.35202525e+02] [ 3.25062645e-01 9.45684630e-01 -3.85457538e-03 2.12042189e+01] [ 1.20155701e-02 -5.44747123e-05 9.99927809e-01 1.47426697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.240281693 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:135.26, Y:21.23, Z:1.47 [[ 9.45728795e-01 -3.24757669e-01 -1.13799067e-02 1.35255310e+02] [ 3.24734771e-01 9.45797258e-01 -3.85676175e-03 2.12251846e+01] [ 1.20155975e-02 -4.80007576e-05 9.99927809e-01 1.47498204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.300281693 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:135.31, Y:21.25, Z:1.48 [[ 9.45913750e-01 -3.24218573e-01 -1.13795868e-02 1.35308335e+02] [ 3.24195624e-01 9.45982196e-01 -3.85770534e-03 2.12456721e+01] [ 1.20156263e-02 -4.01557332e-05 9.99927809e-01 1.47622992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.360281693 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:135.36, Y:21.26, Z:1.48 [[ 9.46101338e-01 -3.23670775e-01 -1.13792724e-02 1.35363498e+02] [ 3.23647776e-01 9.46169767e-01 -3.85863270e-03 2.12648398e+01] [ 1.20156501e-02 -3.22186322e-05 9.99927809e-01 1.47643896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.420281693 meters Centerline goodness : 0.999338 with order 1 Centerline is valid? [True, True] Translation: X:135.42, Y:21.28, Z:1.48 [[ 9.45878327e-01 -3.24321937e-01 -1.13785542e-02 1.35418273e+02] [ 3.24298959e-01 9.45946764e-01 -3.86074927e-03 2.12835710e+01] [ 1.20156322e-02 -3.82542334e-05 9.99927809e-01 1.47758947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.480281693 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:135.47, Y:21.30, Z:1.48 [[ 9.44952300e-01 -3.27010240e-01 -1.13778127e-02 1.35473265e+02] [ 3.26987430e-01 9.45020792e-01 -3.86293323e-03 2.12997073e+01] [ 1.20154883e-02 -7.01141135e-05 9.99927809e-01 1.48137279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.540281693 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:135.53, Y:21.31, Z:1.48 [[ 9.44854717e-01 -3.27292103e-01 -1.13773103e-02 1.35529516e+02] [ 3.27269296e-01 9.44923211e-01 -3.86441253e-03 2.13140815e+01] [ 1.20154763e-02 -7.21359167e-05 9.99927809e-01 1.47961593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.600281693 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:135.58, Y:21.33, Z:1.48 [[ 9.46079640e-01 -3.23734286e-01 -1.13765817e-02 1.35584711e+02] [ 3.23711195e-01 9.46148039e-01 -3.86655624e-03 2.13288709e+01] [ 1.20156673e-02 -2.46567190e-05 9.99927809e-01 1.48212758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.660281693 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:135.64, Y:21.34, Z:1.48 [[ 9.47714609e-01 -3.18916296e-01 -1.13760869e-02 1.35640999e+02] [ 3.18892840e-01 9.47782884e-01 -3.86801150e-03 2.13442736e+01] [ 1.20156323e-02 3.80183479e-05 9.99927809e-01 1.48213395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.720281693 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:135.70, Y:21.36, Z:1.48 [[ 9.48833540e-01 -3.15571727e-01 -1.13753785e-02 1.35696015e+02] [ 3.15548006e-01 9.48901722e-01 -3.87009351e-03 2.13621893e+01] [ 1.20154084e-02 8.25965073e-05 9.99927809e-01 1.48011440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.780281693 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:135.75, Y:21.38, Z:1.48 [[ 9.50181061e-01 -3.11490879e-01 -1.13746720e-02 1.35750981e+02] [ 3.11466841e-01 9.50249132e-01 -3.87216914e-03 2.13809335e+01] [ 1.20149175e-02 1.36428638e-04 9.99927809e-01 1.48086555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.840281693 meters Centerline goodness : 0.998857 with order 1 Centerline is valid? [True, True] Translation: X:135.80, Y:21.40, Z:1.48 [[ 9.50491702e-01 -3.10541715e-01 -1.13739685e-02 1.35804119e+02] [ 3.10517583e-01 9.50559741e-01 -3.87423432e-03 2.14013789e+01] [ 1.20147479e-02 1.50610353e-04 9.99927809e-01 1.47873773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.900281693 meters Centerline goodness : 0.999044 with order 1 Centerline is valid? [True, True] Translation: X:135.86, Y:21.42, Z:1.48 [[ 9.49469080e-01 -3.13654437e-01 -1.13736645e-02 1.35859097e+02] [ 3.13630518e-01 9.49537193e-01 -3.87512661e-03 2.14213763e+01] [ 1.20151681e-02 1.12184605e-04 9.99927809e-01 1.47991503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.960281693 meters Centerline goodness : 0.998729 with order 1 Centerline is valid? [True, True] Translation: X:135.91, Y:21.44, Z:1.48 [[ 9.48061564e-01 -3.17883500e-01 -1.13732380e-02 1.35913446e+02] [ 3.17859870e-01 9.48129778e-01 -3.87637803e-03 2.14422278e+01] [ 1.20155422e-02 5.99490668e-05 9.99927809e-01 1.48105630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.020281693 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:135.97, Y:21.46, Z:1.48 [[ 9.46494945e-01 -3.22518193e-01 -1.13725055e-02 1.35968663e+02] [ 3.22494871e-01 9.46563265e-01 -3.87852589e-03 2.14610598e+01] [ 1.20156911e-02 3.43047457e-06 9.99927809e-01 1.48010606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.080281693 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:136.02, Y:21.48, Z:1.48 [[ 9.44733126e-01 -3.27643086e-01 -1.13722793e-02 1.36023346e+02] [ 3.27620127e-01 9.44801569e-01 -3.87918905e-03 2.14791137e+01] [ 1.20155368e-02 -6.09891709e-05 9.99927809e-01 1.48139127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.140281693 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:136.08, Y:21.49, Z:1.48 [[ 9.43384795e-01 -3.31505376e-01 -1.13716095e-02 1.36079698e+02] [ 3.31482673e-01 9.43453324e-01 -3.88115128e-03 2.14933593e+01] [ 1.20152053e-02 -1.08072420e-04 9.99927809e-01 1.48312309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.200281693 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:136.14, Y:21.51, Z:1.48 [[ 9.43187997e-01 -3.32064910e-01 -1.13708903e-02 1.36135923e+02] [ 3.32042223e-01 9.43256531e-01 -3.88325741e-03 2.15078508e+01] [ 1.20151600e-02 -1.12973899e-04 9.99927809e-01 1.48383966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.260281693 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:136.19, Y:21.52, Z:1.48 [[ 9.44231740e-01 -3.29085310e-01 -1.13701568e-02 1.36192153e+02] [ 3.29062381e-01 9.44300192e-01 -3.88540377e-03 2.15207404e+01] [ 1.20154706e-02 -7.27693117e-05 9.99927809e-01 1.48379510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.320281693 meters Centerline goodness : 0.998941 with order 1 Centerline is valid? [True, True] Translation: X:136.25, Y:21.54, Z:1.48 [[ 9.46795940e-01 -3.21633605e-01 -1.13698403e-02 1.36246743e+02] [ 3.21610125e-01 9.46864206e-01 -3.88632986e-03 2.15374520e+01] [ 1.20156691e-02 2.29055731e-05 9.99927809e-01 1.48193905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.380281693 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:136.30, Y:21.56, Z:1.48 [[ 9.49000718e-01 -3.15068837e-01 -1.13695343e-02 1.36300467e+02] [ 3.15044874e-01 9.49068816e-01 -3.88722483e-03 2.15569684e+01] [ 1.20152138e-02 1.07065653e-04 9.99927809e-01 1.48161094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.440281693 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:136.35, Y:21.58, Z:1.48 [[ 9.52251996e-01 -3.05101427e-01 -1.13690631e-02 1.36353422e+02] [ 3.05076735e-01 9.52319833e-01 -3.88860241e-03 2.15815674e+01] [ 1.20134024e-02 2.34492754e-04 9.99927809e-01 1.48487650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.500281693 meters Centerline goodness : 0.998828 with order 1 Centerline is valid? [True, True] Translation: X:136.41, Y:21.61, Z:1.49 [[ 9.53246509e-01 -3.01979892e-01 -1.13683218e-02 1.36405619e+02] [ 3.01954953e-01 9.53314255e-01 -3.89076831e-03 2.16061816e+01] [ 1.20125171e-02 2.76140223e-04 9.99927809e-01 1.49076349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.560281693 meters Centerline goodness : 0.998686 with order 1 Centerline is valid? [True, True] Translation: X:136.46, Y:21.63, Z:1.49 [[ 9.52629545e-01 -3.03920577e-01 -1.13680940e-02 1.36458619e+02] [ 3.03895767e-01 9.52697339e-01 -3.89143400e-03 2.16294587e+01] [ 1.20130397e-02 2.52379363e-04 9.99927809e-01 1.49303894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.620281693 meters Centerline goodness : 0.998569 with order 1 Centerline is valid? [True, True] Translation: X:136.51, Y:21.66, Z:1.49 [[ 9.51220942e-01 -3.08300976e-01 -1.13678701e-02 1.36511026e+02] [ 3.08276471e-01 9.51288846e-01 -3.89208781e-03 2.16555460e+01] [ 1.20140625e-02 1.97788547e-04 9.99927809e-01 1.49281555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.680281693 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:136.56, Y:21.68, Z:1.49 [[ 9.49981589e-01 -3.12098974e-01 -1.13671537e-02 1.36564068e+02] [ 3.12074715e-01 9.50049582e-01 -3.89417894e-03 2.16806222e+01] [ 1.20147289e-02 1.51997034e-04 9.99927809e-01 1.48801237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.740281693 meters Centerline goodness : 0.998501 with order 1 Centerline is valid? [True, True] Translation: X:136.62, Y:21.70, Z:1.49 [[ 9.47995125e-01 -3.18081808e-01 -1.13669318e-02 1.36616779e+02] [ 3.18057970e-01 9.48063267e-01 -3.89482660e-03 2.17045771e+01] [ 1.20154440e-02 7.69333685e-05 9.99927809e-01 1.48805606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.800281693 meters Centerline goodness : 0.998552 with order 1 Centerline is valid? [True, True] Translation: X:136.67, Y:21.73, Z:1.48 [[ 9.46646781e-01 -3.22072478e-01 -1.13662228e-02 1.36671011e+02] [ 3.22048903e-01 9.46715014e-01 -3.89689462e-03 2.17252766e+01] [ 1.20156563e-02 2.85031649e-05 9.99927809e-01 1.48452273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.860281693 meters Centerline goodness : 0.998532 with order 1 Centerline is valid? [True, True] Translation: X:136.73, Y:21.74, Z:1.48 [[ 9.46250320e-01 -3.23235454e-01 -1.13654767e-02 1.36725076e+02] [ 3.23211937e-01 9.46318573e-01 -3.89906950e-03 2.17448761e+01] [ 1.20156792e-02 1.60380352e-05 9.99927809e-01 1.48396723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.920281693 meters Centerline goodness : 0.998447 with order 1 Centerline is valid? [True, True] Translation: X:136.78, Y:21.77, Z:1.48 [[ 9.46203701e-01 -3.23371906e-01 -1.13651529e-02 1.36777662e+02] [ 3.23348388e-01 9.46271953e-01 -3.90001308e-03 2.17658589e+01] [ 1.20156801e-02 1.53029422e-05 9.99927809e-01 1.48092942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.980281693 meters Centerline goodness : 0.998684 with order 1 Centerline is valid? [True, True] Translation: X:136.83, Y:21.78, Z:1.48 [[ 9.46147163e-01 -3.23537304e-01 -1.13648365e-02 1.36833409e+02] [ 3.23513786e-01 9.46215416e-01 -3.90093491e-03 2.17829610e+01] [ 1.20156814e-02 1.41772174e-05 9.99927809e-01 1.48307706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.040281693 meters Centerline goodness : 0.998638 with order 1 Centerline is valid? [True, True] Translation: X:136.89, Y:21.80, Z:1.49 [[ 9.46334570e-01 -3.22988758e-01 -1.13640990e-02 1.36888908e+02] [ 3.22965175e-01 9.46402801e-01 -3.90308206e-03 2.18012112e+01] [ 1.20156668e-02 2.34132548e-05 9.99927809e-01 1.48536542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.100281693 meters Centerline goodness : 0.998714 with order 1 Centerline is valid? [True, True] Translation: X:136.94, Y:21.82, Z:1.49 [[ 9.46863030e-01 -3.21436271e-01 -1.13633682e-02 1.36943987e+02] [ 3.21412551e-01 9.46931213e-01 -3.90520868e-03 2.18178213e+01] [ 1.20156037e-02 4.53685675e-05 9.99927809e-01 1.48803462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.160281693 meters Centerline goodness : 0.998498 with order 1 Centerline is valid? [True, True] Translation: X:137.00, Y:21.83, Z:1.49 [[ 9.46698934e-01 -3.21919273e-01 -1.13626248e-02 1.36999336e+02] [ 3.21895562e-01 9.46767120e-01 -3.90737027e-03 2.18330524e+01] [ 1.20156174e-02 4.15247661e-05 9.99927809e-01 1.48811372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.220281693 meters Centerline goodness : 0.998548 with order 1 Centerline is valid? [True, True] Translation: X:137.06, Y:21.85, Z:1.49 [[ 9.45718139e-01 -3.24789316e-01 -1.13623043e-02 1.37055741e+02] [ 3.24765801e-01 9.45786392e-01 -3.90830205e-03 2.18476112e+01] [ 1.20156876e-02 6.06427892e-06 9.99927809e-01 1.48644037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.280281693 meters Centerline goodness : 0.998336 with order 1 Centerline is valid? [True, True] Translation: X:137.11, Y:21.86, Z:1.49 [[ 9.43053985e-01 -3.32445628e-01 -1.13615635e-02 1.37112337e+02] [ 3.32422641e-01 9.43122419e-01 -3.91045455e-03 2.18594014e+01] [ 1.20153587e-02 -8.90711856e-05 9.99927809e-01 1.48593685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.340281693 meters Centerline goodness : 0.998576 with order 1 Centerline is valid? [True, True] Translation: X:137.17, Y:21.87, Z:1.49 [[ 9.41350437e-01 -3.37239198e-01 -1.13612422e-02 1.37168964e+02] [ 3.37216547e-01 9.41418983e-01 -3.91138766e-03 2.18732171e+01] [ 1.20147623e-02 -1.49212400e-04 9.99927809e-01 1.48709548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.400281693 meters Centerline goodness : 0.998493 with order 1 Centerline is valid? [True, True] Translation: X:137.22, Y:21.89, Z:1.49 [[ 9.41077730e-01 -3.37999475e-01 -1.13604869e-02 1.37223025e+02] [ 3.37976854e-01 9.41146285e-01 -3.91358035e-03 2.18895626e+01] [ 1.20146681e-02 -1.56598303e-04 9.99927809e-01 1.49325782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.460281693 meters Centerline goodness : 0.998308 with order 1 Centerline is valid? [True, True] Translation: X:137.28, Y:21.91, Z:1.50 [[ 9.43537912e-01 -3.31069713e-01 -1.13601614e-02 1.37278262e+02] [ 3.31046577e-01 9.43606295e-01 -3.91452495e-03 2.19078043e+01] [ 1.20155004e-02 -6.72398364e-05 9.99927809e-01 1.49794697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.520281693 meters Centerline goodness : 0.998384 with order 1 Centerline is valid? [True, True] Translation: X:137.33, Y:21.93, Z:1.50 [[ 9.45746664e-01 -3.24706345e-01 -1.13594404e-02 1.37332565e+02] [ 3.24682723e-01 9.45814881e-01 -3.91661602e-03 2.19289153e+01] [ 1.20156778e-02 1.59124902e-05 9.99927809e-01 1.49631618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.580281693 meters Centerline goodness : 0.998458 with order 1 Centerline is valid? [True, True] Translation: X:137.39, Y:21.95, Z:1.49 [[ 9.45361301e-01 -3.25826625e-01 -1.13587115e-02 1.37388247e+02] [ 3.25803059e-01 9.45429537e-01 -3.91872889e-03 2.19451411e+01] [ 1.20156875e-02 3.91170439e-06 9.99927809e-01 1.49391450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.640281693 meters Centerline goodness : 0.998222 with order 1 Centerline is valid? [True, True] Translation: X:137.44, Y:21.96, Z:1.49 [[ 9.44315575e-01 -3.28845088e-01 -1.13579675e-02 1.37442142e+02] [ 3.28821714e-01 9.44383877e-01 -3.92088409e-03 2.19633438e+01] [ 1.20156448e-02 -3.21944117e-05 9.99927809e-01 1.49062845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.700281693 meters Centerline goodness : 0.998363 with order 1 Centerline is valid? [True, True] Translation: X:137.50, Y:21.98, Z:1.49 [[ 9.43843936e-01 -3.30196349e-01 -1.13576449e-02 1.37497200e+02] [ 3.30173062e-01 9.43912267e-01 -3.92181832e-03 2.19808830e+01] [ 1.20155904e-02 -4.84039522e-05 9.99927809e-01 1.49045733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.760281693 meters Centerline goodness : 0.998190 with order 1 Centerline is valid? [True, True] Translation: X:137.55, Y:22.00, Z:1.49 [[ 9.44602521e-01 -3.28019967e-01 -1.13569001e-02 1.37552476e+02] [ 3.27996496e-01 9.44670790e-01 -3.92397383e-03 2.19971862e+01] [ 1.20156736e-02 -1.84278736e-05 9.99927809e-01 1.49247429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.820281693 meters Centerline goodness : 0.998311 with order 1 Centerline is valid? [True, True] Translation: X:137.61, Y:22.01, Z:1.49 [[ 9.45258033e-01 -3.26126186e-01 -1.13561538e-02 1.37608822e+02] [ 3.26102553e-01 9.45326246e-01 -3.92613260e-03 2.20123422e+01] [ 1.20156849e-02 7.93764027e-06 9.99927809e-01 1.49013151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.880281693 meters Centerline goodness : 0.998260 with order 1 Centerline is valid? [True, True] Translation: X:137.66, Y:22.03, Z:1.49 [[ 9.45411491e-01 -3.25681081e-01 -1.13554086e-02 1.37663738e+02] [ 3.25657389e-01 9.45479684e-01 -3.92828659e-03 2.20281150e+01] [ 1.20156768e-02 1.58745590e-05 9.99927809e-01 1.49066491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.940281693 meters Centerline goodness : 0.998351 with order 1 Centerline is valid? [True, True] Translation: X:137.72, Y:22.04, Z:1.49 [[ 9.45609294e-01 -3.25106335e-01 -1.13549051e-02 1.37719195e+02] [ 3.25082584e-01 9.45677466e-01 -3.92974149e-03 2.20431433e+01] [ 1.20156617e-02 2.47181787e-05 9.99927809e-01 1.49119336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.000281693 meters Centerline goodness : 0.998684 with order 1 Centerline is valid? [True, True] Translation: X:137.78, Y:22.06, Z:1.50 [[ 9.46235142e-01 -3.23280263e-01 -1.13545889e-02 1.37776177e+02] [ 3.23256370e-01 9.46303265e-01 -3.93065496e-03 2.20555452e+01] [ 1.20155877e-02 4.88806703e-05 9.99927809e-01 1.49865301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.060281693 meters Centerline goodness : 0.998559 with order 1 Centerline is valid? [True, True] Translation: X:137.83, Y:22.07, Z:1.50 [[ 9.46549612e-01 -3.22358375e-01 -1.13538556e-02 1.37833275e+02] [ 3.22334390e-01 9.46617702e-01 -3.93277188e-03 2.20686825e+01] [ 1.20155227e-02 6.28255709e-05 9.99927809e-01 1.50344468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.120281693 meters Centerline goodness : 0.998250 with order 1 Centerline is valid? [True, True] Translation: X:137.89, Y:22.08, Z:1.50 [[ 9.46038881e-01 -3.23854194e-01 -1.13532230e-02 1.37889366e+02] [ 3.23830295e-01 9.46107002e-01 -3.93459744e-03 2.20823979e+01] [ 1.20155996e-02 4.57646157e-05 9.99927809e-01 1.49972912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.180281693 meters Centerline goodness : 0.998524 with order 1 Centerline is valid? [True, True] Translation: X:137.95, Y:22.09, Z:1.50 [[ 9.44632746e-01 -3.27933048e-01 -1.13530043e-02 1.37947956e+02] [ 3.27909435e-01 9.44700967e-01 -3.93522821e-03 2.20917036e+01] [ 1.20156855e-02 -5.41179928e-06 9.99927809e-01 1.49559627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.240281693 meters Centerline goodness : 0.998697 with order 1 Centerline is valid? [True, True] Translation: X:138.01, Y:22.10, Z:1.50 [[ 9.45529921e-01 -3.25337200e-01 -1.13522753e-02 1.38005919e+02] [ 3.25313375e-01 9.45598068e-01 -3.93733021e-03 2.21029971e+01] [ 1.20156495e-02 2.98165407e-05 9.99927809e-01 1.49911839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.300281693 meters Centerline goodness : 0.998833 with order 1 Centerline is valid? [True, True] Translation: X:138.06, Y:22.12, Z:1.50 [[ 9.47115627e-01 -3.20691647e-01 -1.13515424e-02 1.38060900e+02] [ 3.20667462e-01 9.47183646e-01 -3.93944210e-03 2.21210958e+01] [ 1.20153415e-02 9.10368848e-05 9.99927809e-01 1.49858688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.360281693 meters Centerline goodness : 0.998403 with order 1 Centerline is valid? [True, True] Translation: X:138.12, Y:22.14, Z:1.50 [[ 9.50410022e-01 -3.10792452e-01 -1.13508140e-02 1.38115284e+02] [ 3.10767535e-01 9.50477777e-01 -3.94153978e-03 2.21408451e+01] [ 1.20136972e-02 2.18614439e-04 9.99927809e-01 1.49937206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.420281693 meters Centerline goodness : 0.998792 with order 1 Centerline is valid? [True, True] Translation: X:138.17, Y:22.16, Z:1.50 [[ 9.52773120e-01 -3.03470850e-01 -1.13500907e-02 1.38169026e+02] [ 3.03445387e-01 9.52840671e-01 -3.94362147e-03 2.21610927e+01] [ 1.20116022e-02 3.13243875e-04 9.99927809e-01 1.50044456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.480281693 meters Centerline goodness : 0.998800 with order 1 Centerline is valid? [True, True] Translation: X:138.22, Y:22.18, Z:1.50 [[ 9.52801456e-01 -3.03381884e-01 -1.13497812e-02 1.38223518e+02] [ 3.03356404e-01 9.52869001e-01 -3.94451182e-03 2.21809109e+01] [ 1.20115481e-02 3.15307786e-04 9.99927809e-01 1.50046028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.540281693 meters Centerline goodness : 0.998816 with order 1 Centerline is valid? [True, True] Translation: X:138.28, Y:22.20, Z:1.50 [[ 9.52238483e-01 -3.05144345e-01 -1.13490433e-02 1.38275990e+02] [ 3.05118965e-01 9.52306065e-01 -3.94663386e-03 2.22031410e+01] [ 1.20120558e-02 2.95328299e-04 9.99927809e-01 1.50118193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.600281693 meters Centerline goodness : 0.998474 with order 1 Centerline is valid? [True, True] Translation: X:138.33, Y:22.23, Z:1.50 [[ 9.51655537e-01 -3.06957563e-01 -1.13487231e-02 1.38329599e+02] [ 3.06932301e-01 9.51723163e-01 -3.94755439e-03 2.22251837e+01] [ 1.20125743e-02 2.73422302e-04 9.99927809e-01 1.50184106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.660281693 meters Centerline goodness : 0.998307 with order 1 Centerline is valid? [True, True] Translation: X:138.38, Y:22.25, Z:1.50 [[ 9.52370564e-01 -3.04731903e-01 -1.13479997e-02 1.38381847e+02] [ 3.04706457e-01 9.52438121e-01 -3.94963287e-03 2.22495865e+01] [ 1.20118466e-02 3.03705302e-04 9.99927809e-01 1.50038173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.720281693 meters Centerline goodness : 0.998382 with order 1 Centerline is valid? [True, True] Translation: X:138.43, Y:22.28, Z:1.50 [[ 9.53599491e-01 -3.00864164e-01 -1.13475078e-02 1.38432134e+02] [ 3.00838428e-01 9.53666938e-01 -3.95104568e-03 2.22787079e+01] [ 1.20104710e-02 3.53948744e-04 9.99927809e-01 1.50267457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.780281693 meters Centerline goodness : 0.997797 with order 1 Centerline is valid? [True, True] Translation: X:138.49, Y:22.31, Z:1.51 [[ 9.53651163e-01 -3.00700350e-01 -1.13472021e-02 1.38485150e+02] [ 3.00674592e-01 9.53718602e-01 -3.95192335e-03 2.23059803e+01] [ 1.20103825e-02 3.56940938e-04 9.99927809e-01 1.50897015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.840281693 meters Centerline goodness : 0.997817 with order 1 Centerline is valid? [True, True] Translation: X:138.54, Y:22.33, Z:1.50 [[ 9.52865451e-01 -3.03180947e-01 -1.13466181e-02 1.38538246e+02] [ 3.03155344e-01 9.52932949e-01 -3.95359931e-03 2.23341085e+01] [ 1.20112223e-02 3.27460267e-04 9.99927809e-01 1.50116397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.900281693 meters Centerline goodness : 0.997835 with order 1 Centerline is valid? [True, True] Translation: X:138.59, Y:22.36, Z:1.50 [[ 9.50601950e-01 -3.10205095e-01 -1.13460027e-02 1.38591697e+02] [ 3.10179970e-01 9.50669628e-01 -3.95536459e-03 2.23582639e+01] [ 1.20132744e-02 2.40674503e-04 9.99927809e-01 1.50237483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.960281693 meters Centerline goodness : 0.997588 with order 1 Centerline is valid? [True, True] Translation: X:138.65, Y:22.38, Z:1.50 [[ 9.49212608e-01 -3.14430770e-01 -1.13452910e-02 1.38645905e+02] [ 3.14405923e-01 9.49280388e-01 -3.95740510e-03 2.23795846e+01] [ 1.20141921e-02 1.89392145e-04 9.99927809e-01 1.50420018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.020281693 meters Centerline goodness : 0.997239 with order 1 Centerline is valid? [True, True] Translation: X:138.70, Y:22.41, Z:1.50 [[ 9.48513214e-01 -3.16534331e-01 -1.13445849e-02 1.38698073e+02] [ 3.16509609e-01 9.48581040e-01 -3.95942812e-03 2.24063670e+01] [ 1.20145531e-02 1.64899759e-04 9.99927809e-01 1.49802199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.080281693 meters Centerline goodness : 0.997572 with order 1 Centerline is valid? [True, True] Translation: X:138.75, Y:22.43, Z:1.50 [[ 9.47792560e-01 -3.18685707e-01 -1.13438707e-02 1.38749892e+02] [ 3.18661115e-01 9.47860433e-01 -3.96147318e-03 2.24301500e+01] [ 1.20148711e-02 1.39804307e-04 9.99927809e-01 1.49681860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.140281693 meters Centerline goodness : 0.997362 with order 1 Centerline is valid? [True, True] Translation: X:138.80, Y:22.45, Z:1.50 [[ 9.44705830e-01 -3.27722784e-01 -1.13433846e-02 1.38804446e+02] [ 3.27698825e-01 9.44773929e-01 -3.96286468e-03 2.24510235e+01] [ 1.20156551e-02 2.65275673e-05 9.99927809e-01 1.50132418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.200281693 meters Centerline goodness : 0.997621 with order 1 Centerline is valid? [True, True] Translation: X:138.86, Y:22.47, Z:1.50 [[ 9.43192753e-01 -3.32052369e-01 -1.13426456e-02 1.38859797e+02] [ 3.32028697e-01 9.43260952e-01 -3.96497867e-03 2.24695957e+01] [ 1.20156553e-02 -2.63446989e-05 9.99927809e-01 1.50279086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.260281693 meters Centerline goodness : 0.997511 with order 1 Centerline is valid? [True, True] Translation: X:138.92, Y:22.48, Z:1.51 [[ 9.39234123e-01 -3.43089821e-01 -1.13418550e-02 1.38915451e+02] [ 3.43066923e-01 9.39302586e-01 -3.96723897e-03 2.24840931e+01] [ 1.20145530e-02 -1.64849081e-04 9.99927809e-01 1.50658376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.320281693 meters Centerline goodness : 0.997180 with order 1 Centerline is valid? [True, True] Translation: X:138.97, Y:22.50, Z:1.51 [[ 9.38761422e-01 -3.44381136e-01 -1.13413183e-02 1.38971236e+02] [ 3.44358313e-01 9.38829910e-01 -3.96877277e-03 2.24986364e+01] [ 1.20143393e-02 -1.79746457e-04 9.99927809e-01 1.50955803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.380281693 meters Centerline goodness : 0.997372 with order 1 Centerline is valid? [True, True] Translation: X:139.03, Y:22.51, Z:1.51 [[ 9.39558265e-01 -3.42201182e-01 -1.13409978e-02 1.39027269e+02] [ 3.42178189e-01 9.39626696e-01 -3.96968831e-03 2.25136942e+01] [ 1.20147363e-02 -1.50888629e-04 9.99927809e-01 1.50717522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.440281693 meters Centerline goodness : 0.997334 with order 1 Centerline is valid? [True, True] Translation: X:139.08, Y:22.53, Z:1.50 [[ 9.41451161e-01 -3.36958619e-01 -1.13402591e-02 1.39084424e+02] [ 3.36935219e-01 9.41519454e-01 -3.97179741e-03 2.25272964e+01] [ 1.20154059e-02 -8.16794136e-05 9.99927809e-01 1.50487951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.500281693 meters Centerline goodness : 0.997433 with order 1 Centerline is valid? [True, True] Translation: X:139.14, Y:22.54, Z:1.51 [[ 9.43205549e-01 -3.32016125e-01 -1.13395057e-02 1.39140059e+02] [ 3.31992342e-01 9.43273710e-01 -3.97394715e-03 2.25441999e+01] [ 1.20156722e-02 -1.63800542e-05 9.99927809e-01 1.50739474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.560281693 meters Centerline goodness : 0.997584 with order 1 Centerline is valid? [True, True] Translation: X:139.19, Y:22.56, Z:1.51 [[ 9.44722411e-01 -3.27675142e-01 -1.13387376e-02 1.39194374e+02] [ 3.27651020e-01 9.44790453e-01 -3.97613767e-03 2.25618847e+01] [ 1.20156125e-02 4.11974264e-05 9.99927809e-01 1.51020297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.620281693 meters Centerline goodness : 0.997535 with order 1 Centerline is valid? [True, True] Translation: X:139.25, Y:22.58, Z:1.51 [[ 9.45480306e-01 -3.25481852e-01 -1.13382204e-02 1.39248628e+02] [ 3.25457555e-01 9.45548285e-01 -3.97761189e-03 2.25796399e+01] [ 1.20154753e-02 7.06442216e-05 9.99927809e-01 1.50868384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.680281693 meters Centerline goodness : 0.997611 with order 1 Centerline is valid? [True, True] Translation: X:139.30, Y:22.60, Z:1.51 [[ 9.45773488e-01 -3.24628960e-01 -1.13378967e-02 1.39303591e+02] [ 3.24604590e-01 9.45841441e-01 -3.97853449e-03 2.25956040e+01] [ 1.20154000e-02 8.24591540e-05 9.99927809e-01 1.50704707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.740281693 meters Centerline goodness : 0.997157 with order 1 Centerline is valid? [True, True] Translation: X:139.36, Y:22.61, Z:1.51 [[ 9.46229826e-01 -3.23296421e-01 -1.13375813e-02 1.39358661e+02] [ 3.23271944e-01 9.46297741e-01 -3.97943289e-03 2.26148418e+01] [ 1.20152640e-02 1.00336135e-04 9.99927809e-01 1.50575191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.800281693 meters Centerline goodness : 0.997327 with order 1 Centerline is valid? [True, True] Translation: X:139.41, Y:22.64, Z:1.51 [[ 9.47245043e-01 -3.20309700e-01 -1.13368643e-02 1.39412419e+02] [ 3.20284985e-01 9.47312871e-01 -3.98147461e-03 2.26370396e+01] [ 1.20148624e-02 1.40404675e-04 9.99927809e-01 1.51341925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.860281693 meters Centerline goodness : 0.997222 with order 1 Centerline is valid? [True, True] Translation: X:139.47, Y:22.66, Z:1.51 [[ 9.48139080e-01 -3.17653549e-01 -1.13361037e-02 1.39465179e+02] [ 3.17628617e-01 9.48206830e-01 -3.98363902e-03 2.26591103e+01] [ 1.20143880e-02 1.76372899e-04 9.99927809e-01 1.51262064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.920281693 meters Centerline goodness : 0.997375 with order 1 Centerline is valid? [True, True] Translation: X:139.52, Y:22.68, Z:1.51 [[ 9.48908138e-01 -3.15348770e-01 -1.13357765e-02 1.39517452e+02] [ 3.15323663e-01 9.48975822e-01 -3.98456978e-03 2.26829348e+01] [ 1.20139070e-02 2.06552112e-04 9.99927809e-01 1.50915160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.980281693 meters Centerline goodness : 0.997512 with order 1 Centerline is valid? [True, True] Translation: X:139.57, Y:22.71, Z:1.51 [[ 9.48961530e-01 -3.15188073e-01 -1.13354605e-02 1.39570563e+02] [ 3.15162944e-01 9.49029207e-01 -3.98546854e-03 2.27080947e+01] [ 1.20138553e-02 2.09539218e-04 9.99927809e-01 1.50911015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.040281693 meters Centerline goodness : 0.996691 with order 1 Centerline is valid? [True, True] Translation: X:139.62, Y:22.73, Z:1.50 [[ 9.48495910e-01 -3.16586534e-01 -1.13347207e-02 1.39623006e+02] [ 3.16561480e-01 9.48563613e-01 -3.98757135e-03 2.27328688e+01] [ 1.20141151e-02 1.94059139e-04 9.99927809e-01 1.50400422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.100281693 meters Centerline goodness : 0.996837 with order 1 Centerline is valid? [True, True] Translation: X:139.68, Y:22.75, Z:1.50 [[ 9.47879133e-01 -3.18428450e-01 -1.13344919e-02 1.39676457e+02] [ 3.18403520e-01 9.47946883e-01 -3.98822187e-03 2.27546319e+01] [ 1.20144595e-02 1.71410188e-04 9.99927809e-01 1.50492217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.160281693 meters Centerline goodness : 0.997268 with order 1 Centerline is valid? [True, True] Translation: X:139.73, Y:22.78, Z:1.51 [[ 9.47559630e-01 -3.19377980e-01 -1.13337592e-02 1.39729150e+02] [ 3.19353093e-01 9.47627395e-01 -3.99030272e-03 2.27784575e+01] [ 1.20145956e-02 1.61578702e-04 9.99927809e-01 1.51261819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.220281693 meters Centerline goodness : 0.997221 with order 1 Centerline is valid? [True, True] Translation: X:139.78, Y:22.81, Z:1.51 [[ 9.47713334e-01 -3.18921601e-01 -1.13335330e-02 1.39779588e+02] [ 3.18896674e-01 9.47781084e-01 -3.99094530e-03 2.28075415e+01] [ 1.20145068e-02 1.68046107e-04 9.99927809e-01 1.51413068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.280281693 meters Centerline goodness : 0.997255 with order 1 Centerline is valid? [True, True] Translation: X:139.83, Y:22.83, Z:1.52 [[ 9.48083018e-01 -3.17820939e-01 -1.13332209e-02 1.39831848e+02] [ 3.17795922e-01 9.48150735e-01 -3.99183138e-03 2.28347621e+01] [ 1.20142893e-02 1.82936159e-04 9.99927809e-01 1.51500053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.340281693 meters Centerline goodness : 0.997572 with order 1 Centerline is valid? [True, True] Translation: X:139.88, Y:22.86, Z:1.52 [[ 9.47591758e-01 -3.19282687e-01 -1.13325140e-02 1.39883697e+02] [ 3.19257751e-01 9.47659505e-01 -3.99383718e-03 2.28609787e+01] [ 1.20145277e-02 1.66534271e-04 9.99927809e-01 1.51508658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.400281693 meters Centerline goodness : 0.997900 with order 1 Centerline is valid? [True, True] Translation: X:139.94, Y:22.88, Z:1.52 [[ 9.44524130e-01 -3.28246488e-01 -1.13318109e-02 1.39937766e+02] [ 3.28222171e-01 9.44592102e-01 -3.99583107e-03 2.28833545e+01] [ 1.20155566e-02 5.48072925e-05 9.99927809e-01 1.51744305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.460281693 meters Centerline goodness : 0.997861 with order 1 Centerline is valid? [True, True] Translation: X:139.99, Y:22.90, Z:1.52 [[ 9.42318774e-01 -3.34524940e-01 -1.13310559e-02 1.39992103e+02] [ 3.34501050e-01 9.42386897e-01 -3.99797075e-03 2.29028181e+01] [ 1.20156596e-02 -2.28872051e-05 9.99927809e-01 1.51635264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.520281693 meters Centerline goodness : 0.997365 with order 1 Centerline is valid? [True, True] Translation: X:140.05, Y:22.92, Z:1.52 [[ 9.42346016e-01 -3.34448219e-01 -1.13302671e-02 1.40045877e+02] [ 3.34424297e-01 9.42414128e-01 -4.00020497e-03 2.29220860e+01] [ 1.20156653e-02 -1.95394027e-05 9.99927809e-01 1.51583276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.580281693 meters Centerline goodness : 0.997232 with order 1 Centerline is valid? [True, True] Translation: X:140.10, Y:22.94, Z:1.51 [[ 9.42833394e-01 -3.33071800e-01 -1.13299258e-02 1.40100638e+02] [ 3.33047767e-01 9.42901467e-01 -4.00117162e-03 2.29398590e+01] [ 1.20156811e-02 -9.68249949e-07 9.99927809e-01 1.51283378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.640281693 meters Centerline goodness : 0.997441 with order 1 Centerline is valid? [True, True] Translation: X:140.16, Y:22.95, Z:1.52 [[ 9.42961913e-01 -3.32707801e-01 -1.13291526e-02 1.40157793e+02] [ 3.32683715e-01 9.43029967e-01 -4.00335955e-03 2.29529127e+01] [ 1.20156794e-02 5.99099273e-06 9.99927809e-01 1.51854504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.700281693 meters Centerline goodness : 0.997733 with order 1 Centerline is valid? [True, True] Translation: X:140.21, Y:22.97, Z:1.52 [[ 9.42730451e-01 -3.33363094e-01 -1.13289134e-02 1.40213821e+02] [ 3.33339047e-01 9.42798519e-01 -4.00403646e-03 2.29689423e+01] [ 1.20156807e-02 -1.64209019e-06 9.99927809e-01 1.52086204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.760281693 meters Centerline goodness : 0.997774 with order 1 Centerline is valid? [True, True] Translation: X:140.27, Y:22.98, Z:1.52 [[ 9.43174025e-01 -3.32106054e-01 -1.13281541e-02 1.40269094e+02] [ 3.32081891e-01 9.43242052e-01 -4.00618334e-03 2.29847122e+01] [ 1.20156691e-02 1.66532202e-05 9.99927809e-01 1.51891764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.820281693 meters Centerline goodness : 0.997434 with order 1 Centerline is valid? [True, True] Translation: X:140.32, Y:23.00, Z:1.52 [[ 9.43948232e-01 -3.29899099e-01 -1.13278261e-02 1.40323450e+02] [ 3.29874765e-01 9.44016198e-01 -4.00711063e-03 2.30019915e+01] [ 1.20155935e-02 4.57410155e-05 9.99927809e-01 1.51859524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.880281693 meters Centerline goodness : 0.997301 with order 1 Centerline is valid? [True, True] Translation: X:140.38, Y:23.02, Z:1.52 [[ 9.44746263e-01 -3.27606756e-01 -1.13275086e-02 1.40377223e+02] [ 3.27582246e-01 9.44814166e-01 -4.00800799e-03 2.30239114e+01] [ 1.20154411e-02 7.58598523e-05 9.99927809e-01 1.51702699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.940281693 meters Centerline goodness : 0.997313 with order 1 Centerline is valid? [True, True] Translation: X:140.43, Y:23.04, Z:1.52 [[ 9.45734881e-01 -3.24741805e-01 -1.13267493e-02 1.40430227e+02] [ 3.24717064e-01 9.45802700e-01 -4.01015266e-03 2.30446436e+01] [ 1.20151343e-02 1.14552467e-04 9.99927809e-01 1.51714210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.000281693 meters Centerline goodness : 0.997736 with order 1 Centerline is valid? [True, True] Translation: X:140.48, Y:23.07, Z:1.52 [[ 9.45248215e-01 -3.26155675e-01 -1.13264208e-02 1.40484854e+02] [ 3.26131025e-01 9.45316067e-01 -4.01108041e-03 2.30650076e+01] [ 1.20152842e-02 9.75693939e-05 9.99927809e-01 1.52005202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.060281693 meters Centerline goodness : 0.997662 with order 1 Centerline is valid? [True, True] Translation: X:140.54, Y:23.09, Z:1.52 [[ 9.44832362e-01 -3.27358424e-01 -1.13256664e-02 1.40538929e+02] [ 3.27333834e-01 9.44900236e-01 -4.01320913e-03 2.30866937e+01] [ 1.20153827e-02 8.45360429e-05 9.99927809e-01 1.51782767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.120281693 meters Centerline goodness : 0.997145 with order 1 Centerline is valid? [True, True] Translation: X:140.59, Y:23.11, Z:1.52 [[ 9.45038150e-01 -3.26763873e-01 -1.13254327e-02 1.40592795e+02] [ 3.26739233e-01 9.45106006e-01 -4.01386861e-03 2.31072519e+01] [ 1.20153217e-02 9.27957661e-05 9.99927809e-01 1.51997233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.180281693 meters Centerline goodness : 0.997307 with order 1 Centerline is valid? [True, True] Translation: X:140.65, Y:23.13, Z:1.52 [[ 9.46666650e-01 -3.22015537e-01 -1.13246798e-02 1.40645534e+02] [ 3.21990531e-01 9.46734371e-01 -4.01599178e-03 2.31321401e+01] [ 1.20146754e-02 1.55365813e-04 9.99927809e-01 1.51702279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.240281693 meters Centerline goodness : 0.996862 with order 1 Centerline is valid? [True, True] Translation: X:140.70, Y:23.16, Z:1.52 [[ 9.48361739e-01 -3.16988613e-01 -1.13239307e-02 1.40696749e+02] [ 3.16963223e-01 9.48429317e-01 -4.01810277e-03 2.31573453e+01] [ 1.20136407e-02 2.21345345e-04 9.99927809e-01 1.51740800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.300281693 meters Centerline goodness : 0.997374 with order 1 Centerline is valid? [True, True] Translation: X:140.75, Y:23.18, Z:1.52 [[ 9.48573972e-01 -3.16352962e-01 -1.13236074e-02 1.40750568e+02] [ 3.16327515e-01 9.48641529e-01 -4.01901369e-03 2.31818569e+01] [ 1.20134712e-02 2.30363178e-04 9.99927809e-01 1.52265859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.360281693 meters Centerline goodness : 0.997344 with order 1 Centerline is valid? [True, True] Translation: X:140.80, Y:23.21, Z:1.53 [[ 9.49036967e-01 -3.14961309e-01 -1.13229299e-02 1.40801698e+02] [ 3.14935741e-01 9.49104479e-01 -4.02092171e-03 2.32106549e+01] [ 1.20130782e-02 2.50008032e-04 9.99927809e-01 1.52541119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.420281693 meters Centerline goodness : 0.997150 with order 1 Centerline is valid? [True, True] Translation: X:140.85, Y:23.24, Z:1.52 [[ 9.49827270e-01 -3.12569921e-01 -1.13225696e-02 1.40851715e+02] [ 3.12544171e-01 9.49894713e-01 -4.02193587e-03 2.32396905e+01] [ 1.20123852e-02 2.81341228e-04 9.99927809e-01 1.52404363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.480281693 meters Centerline goodness : 0.997760 with order 1 Centerline is valid? [True, True] Translation: X:140.90, Y:23.27, Z:1.53 [[ 9.49190132e-01 -3.14499444e-01 -1.13222399e-02 1.40903018e+02] [ 3.14473820e-01 9.49257622e-01 -4.02286385e-03 2.32685363e+01] [ 1.20129110e-02 2.57914632e-04 9.99927809e-01 1.52939512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.540281693 meters Centerline goodness : 0.997552 with order 1 Centerline is valid? [True, True] Translation: X:140.96, Y:23.29, Z:1.53 [[ 9.47480685e-01 -3.19612520e-01 -1.13220078e-02 1.40955925e+02] [ 3.19587252e-01 9.47548310e-01 -4.02351709e-03 2.32931784e+01] [ 1.20141158e-02 1.93835379e-04 9.99927809e-01 1.52887436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.600281693 meters Centerline goodness : 0.997778 with order 1 Centerline is valid? [True, True] Translation: X:141.01, Y:23.32, Z:1.53 [[ 9.45205952e-01 -3.26278312e-01 -1.13212596e-02 1.41008422e+02] [ 3.26253496e-01 9.45273744e-01 -4.02562113e-03 2.33176094e+01] [ 1.20151623e-02 1.11440527e-04 9.99927809e-01 1.52994650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.660281693 meters Centerline goodness : 0.997511 with order 1 Centerline is valid? [True, True] Translation: X:141.06, Y:23.34, Z:1.53 [[ 9.43949629e-01 -3.29895352e-01 -1.13204940e-02 1.41059541e+02] [ 3.29870770e-01 9.44017506e-01 -4.02777312e-03 2.33439499e+01] [ 1.20154881e-02 6.77148804e-05 9.99927809e-01 1.53477531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.720281693 meters Centerline goodness : 0.997952 with order 1 Centerline is valid? [True, True] Translation: X:141.11, Y:23.37, Z:1.53 [[ 9.42208454e-01 -3.34835905e-01 -1.13201620e-02 1.41113289e+02] [ 3.34811668e-01 9.42276455e-01 -4.02870587e-03 2.33660669e+01] [ 1.20156775e-02 5.75841549e-06 9.99927809e-01 1.53033996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.780281693 meters Centerline goodness : 0.997389 with order 1 Centerline is valid? [True, True] Translation: X:141.17, Y:23.39, Z:1.53 [[ 9.39983269e-01 -3.41032733e-01 -1.13194293e-02 1.41168135e+02] [ 3.41008919e-01 9.40051419e-01 -4.03076359e-03 2.33861365e+01] [ 1.20154679e-02 -7.11760076e-05 9.99927809e-01 1.52793011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.840281693 meters Centerline goodness : 0.997626 with order 1 Centerline is valid? [True, True] Translation: X:141.22, Y:23.41, Z:1.53 [[ 9.38560332e-01 -3.44929543e-01 -1.13187050e-02 1.41222534e+02] [ 3.44905988e-01 9.38628572e-01 -4.03279647e-03 2.34056722e+01] [ 1.20150905e-02 -1.18866325e-04 9.99927809e-01 1.52877007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.900281693 meters Centerline goodness : 0.997792 with order 1 Centerline is valid? [True, True] Translation: X:141.28, Y:23.42, Z:1.53 [[ 9.37966855e-01 -3.46540160e-01 -1.13179755e-02 1.41278585e+02] [ 3.46516697e-01 9.38035127e-01 -4.03484261e-03 2.34232756e+01] [ 1.20148936e-02 -1.37318852e-04 9.99927809e-01 1.53185151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.960281693 meters Centerline goodness : 0.998218 with order 1 Centerline is valid? [True, True] Translation: X:141.33, Y:23.44, Z:1.54 [[ 9.38200263e-01 -3.45907770e-01 -1.13173332e-02 1.41334657e+02] [ 3.45884239e-01 9.38268511e-01 -4.03664343e-03 2.34373557e+01] [ 1.20150037e-02 -1.27307257e-04 9.99927809e-01 1.53545850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.020281693 meters Centerline goodness : 0.998153 with order 1 Centerline is valid? [True, True] Translation: X:141.39, Y:23.45, Z:1.54 [[ 9.38850539e-01 -3.44138924e-01 -1.13165962e-02 1.41390560e+02] [ 3.44115240e-01 9.38918735e-01 -4.03870846e-03 2.34505388e+01] [ 1.20152410e-02 -1.02469613e-04 9.99927809e-01 1.53681753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.080281693 meters Centerline goodness : 0.998186 with order 1 Centerline is valid? [True, True] Translation: X:141.45, Y:23.47, Z:1.54 [[ 9.39319092e-01 -3.42857972e-01 -1.13160952e-02 1.41446614e+02] [ 3.42834178e-01 9.39387249e-01 -4.04011183e-03 2.34662944e+01] [ 1.20153801e-02 -8.45900042e-05 9.99927809e-01 1.54032571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.140281693 meters Centerline goodness : 0.998095 with order 1 Centerline is valid? [True, True] Translation: X:141.50, Y:23.48, Z:1.54 [[ 9.40996078e-01 -3.38228243e-01 -1.13153700e-02 1.41502492e+02] [ 3.38204089e-01 9.41064108e-01 -4.04214174e-03 2.34792766e+01] [ 1.20156551e-02 -2.32649043e-05 9.99927809e-01 1.53947160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.200281693 meters Centerline goodness : 0.998324 with order 1 Centerline is valid? [True, True] Translation: X:141.56, Y:23.49, Z:1.54 [[ 9.43088612e-01 -3.32348978e-01 -1.13148786e-02 1.41557589e+02] [ 3.32324384e-01 9.43156484e-01 -4.04351697e-03 2.34933342e+01] [ 1.20155598e-02 5.31847509e-05 9.99927809e-01 1.54211614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.260281693 meters Centerline goodness : 0.998133 with order 1 Centerline is valid? [True, True] Translation: X:141.61, Y:23.51, Z:1.54 [[ 9.44546008e-01 -3.28184125e-01 -1.13145697e-02 1.41613256e+02] [ 3.28159221e-01 9.44613767e-01 -4.04438117e-03 2.35061394e+01] [ 1.20152000e-02 1.07123713e-04 9.99927809e-01 1.53840758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.320281693 meters Centerline goodness : 0.998195 with order 1 Centerline is valid? [True, True] Translation: X:141.67, Y:23.52, Z:1.54 [[ 9.44445928e-01 -3.28472033e-01 -1.13142644e-02 1.41669536e+02] [ 3.28447139e-01 9.44513691e-01 -4.04523511e-03 2.35216997e+01] [ 1.20152242e-02 1.04368067e-04 9.99927809e-01 1.53606949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.380281693 meters Centerline goodness : 0.998684 with order 1 Centerline is valid? [True, True] Translation: X:141.73, Y:23.54, Z:1.54 [[ 9.44235094e-01 -3.29077639e-01 -1.13135278e-02 1.41725351e+02] [ 3.29052764e-01 9.44302863e-01 -4.04729420e-03 2.35370405e+01] [ 1.20152707e-02 9.88496389e-05 9.99927809e-01 1.54214559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.440281693 meters Centerline goodness : 0.998530 with order 1 Centerline is valid? [True, True] Translation: X:141.78, Y:23.55, Z:1.55 [[ 9.44896131e-01 -3.27174759e-01 -1.13127929e-02 1.41780325e+02] [ 3.27149723e-01 9.44963841e-01 -4.04934714e-03 2.35545304e+01] [ 1.20150244e-02 1.25235383e-04 9.99927809e-01 1.54538000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.500281693 meters Centerline goodness : 0.998439 with order 1 Centerline is valid? [True, True] Translation: X:141.83, Y:23.57, Z:1.54 [[ 9.45482940e-01 -3.25475111e-01 -1.13120624e-02 1.41834792e+02] [ 3.25449929e-01 9.45550596e-01 -4.05138694e-03 2.35742703e+01] [ 1.20147529e-02 1.49007334e-04 9.99927809e-01 1.54137055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.560281693 meters Centerline goodness : 0.998662 with order 1 Centerline is valid? [True, True] Translation: X:141.89, Y:23.60, Z:1.54 [[ 9.46179699e-01 -3.23444014e-01 -1.13113360e-02 1.41888637e+02] [ 3.23418663e-01 9.46247292e-01 -4.05341392e-03 2.35957718e+01] [ 1.20143735e-02 1.76960800e-04 9.99927809e-01 1.54369412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.620281693 meters Centerline goodness : 0.998455 with order 1 Centerline is valid? [True, True] Translation: X:141.94, Y:23.62, Z:1.54 [[ 9.46473167e-01 -3.22584275e-01 -1.13105973e-02 1.41940903e+02] [ 3.22558838e-01 9.46540728e-01 -4.05547426e-03 2.36191206e+01] [ 1.20141732e-02 1.90064459e-04 9.99927809e-01 1.54481186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.680281693 meters Centerline goodness : 0.998376 with order 1 Centerline is valid? [True, True] Translation: X:141.99, Y:23.64, Z:1.54 [[ 9.44995452e-01 -3.26887860e-01 -1.13102777e-02 1.41993605e+02] [ 3.26862720e-01 9.45063124e-01 -4.05636533e-03 2.36416526e+01] [ 1.20149029e-02 1.36338667e-04 9.99927809e-01 1.54384201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.740281693 meters Centerline goodness : 0.998534 with order 1 Centerline is valid? [True, True] Translation: X:142.05, Y:23.66, Z:1.55 [[ 9.42673721e-01 -3.33524124e-01 -1.13099631e-02 1.42048547e+02] [ 3.33499450e-01 9.42741564e-01 -4.05724235e-03 2.36603983e+01] [ 1.20155605e-02 5.27892790e-05 9.99927809e-01 1.54714816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.800281693 meters Centerline goodness : 0.998983 with order 1 Centerline is valid? [True, True] Translation: X:142.10, Y:23.68, Z:1.55 [[ 9.40447108e-01 -3.39751879e-01 -1.13091929e-02 1.42102831e+02] [ 3.39727628e-01 9.40515103e-01 -4.05938793e-03 2.36795835e+01] [ 1.20156514e-02 -2.44056487e-05 9.99927809e-01 1.55054589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.860281693 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:142.16, Y:23.70, Z:1.55 [[ 9.40721262e-01 -3.38992075e-01 -1.13084231e-02 1.42155727e+02] [ 3.38967743e-01 9.40789229e-01 -4.06153143e-03 2.37038283e+01] [ 1.20156696e-02 -1.24216709e-05 9.99927809e-01 1.55359755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.920281693 meters Centerline goodness : 0.998802 with order 1 Centerline is valid? [True, True] Translation: X:142.21, Y:23.73, Z:1.55 [[ 9.40688157e-01 -3.39083955e-01 -1.13076513e-02 1.42209134e+02] [ 3.39059604e-01 9.40756117e-01 -4.06367903e-03 2.37258341e+01] [ 1.20156704e-02 -1.13130303e-05 9.99927809e-01 1.54902169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.980281693 meters Centerline goodness : 0.998491 with order 1 Centerline is valid? [True, True] Translation: X:142.26, Y:23.75, Z:1.55 [[ 9.40038136e-01 -3.40881869e-01 -1.13072920e-02 1.42263019e+02] [ 3.40857636e-01 9.40106138e-01 -4.06467851e-03 2.37454036e+01] [ 1.20156298e-02 -3.32240073e-05 9.99927809e-01 1.54515671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.040281693 meters Centerline goodness : 0.998399 with order 1 Centerline is valid? [True, True] Translation: X:142.32, Y:23.76, Z:1.55 [[ 9.39558448e-01 -3.42201806e-01 -1.13069612e-02 1.42316537e+02] [ 3.42177658e-01 9.39626480e-01 -4.06559834e-03 2.37643083e+01] [ 1.20155753e-02 -4.91222461e-05 9.99927809e-01 1.54539025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.100281693 meters Centerline goodness : 0.998657 with order 1 Centerline is valid? [True, True] Translation: X:142.37, Y:23.79, Z:1.55 [[ 9.38148503e-01 -3.46048480e-01 -1.13064525e-02 1.42370458e+02] [ 3.46024593e-01 9.38216628e-01 -4.06701270e-03 2.37853712e+01] [ 1.20152853e-02 -9.68487409e-05 9.99927809e-01 1.54631491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.160281693 meters Centerline goodness : 0.998650 with order 1 Centerline is valid? [True, True] Translation: X:142.42, Y:23.81, Z:1.55 [[ 9.38628005e-01 -3.44745774e-01 -1.13057204e-02 1.42423359e+02] [ 3.44721768e-01 9.38696088e-01 -4.06904674e-03 2.38095101e+01] [ 1.20154222e-02 -7.80067049e-05 9.99927809e-01 1.54686482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.220281693 meters Centerline goodness : 0.998756 with order 1 Centerline is valid? [True, True] Translation: X:142.48, Y:23.83, Z:1.55 [[ 9.39698650e-01 -3.41816683e-01 -1.13049570e-02 1.42477237e+02] [ 3.41792440e-01 9.39766649e-01 -4.07116656e-03 2.38296731e+01] [ 1.20156142e-02 -3.82791213e-05 9.99927809e-01 1.54663530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.280281693 meters Centerline goodness : 0.998892 with order 1 Centerline is valid? [True, True] Translation: X:142.53, Y:23.85, Z:1.55 [[ 9.40319167e-01 -3.40105983e-01 -1.13041878e-02 1.42531216e+02] [ 3.40081591e-01 9.40387112e-01 -4.07330117e-03 2.38515941e+01] [ 1.20156667e-02 -1.41430164e-05 9.99927809e-01 1.54799281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.340281693 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:142.58, Y:23.87, Z:1.55 [[ 9.41936670e-01 -3.35600270e-01 -1.13034206e-02 1.42583616e+02] [ 3.35575527e-01 9.42004489e-01 -4.07542918e-03 2.38749734e+01] [ 1.20155881e-02 4.56448708e-05 9.99927809e-01 1.55123518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.400281693 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:142.64, Y:23.90, Z:1.55 [[ 9.42992053e-01 -3.32623253e-01 -1.13030889e-02 1.42636926e+02] [ 3.32598285e-01 9.43059788e-01 -4.07634901e-03 2.38987581e+01] [ 1.20153771e-02 8.45767558e-05 9.99927809e-01 1.55132153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.460281693 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:142.69, Y:23.92, Z:1.55 [[ 9.42414611e-01 -3.34255828e-01 -1.13023100e-02 1.42690552e+02] [ 3.34230951e-01 9.42482380e-01 -4.07850733e-03 2.39191664e+01] [ 1.20154929e-02 6.60630807e-05 9.99927809e-01 1.55223410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.520281693 meters Centerline goodness : 0.999421 with order 1 Centerline is valid? [True, True] Translation: X:142.74, Y:23.94, Z:1.55 [[ 9.40244012e-01 -3.40313771e-01 -1.13019733e-02 1.42744544e+02] [ 3.40289320e-01 9.40311936e-01 -4.07944027e-03 2.39385314e+01] [ 1.20156701e-02 -1.02715115e-05 9.99927809e-01 1.55400247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.580281693 meters Centerline goodness : 0.999234 with order 1 Centerline is valid? [True, True] Translation: X:142.80, Y:23.95, Z:1.55 [[ 9.36871931e-01 -3.49489997e-01 -1.13016398e-02 1.42800805e+02] [ 3.49466200e-01 9.36940086e-01 -4.08036402e-03 2.39524678e+01] [ 1.20150057e-02 -1.26762583e-04 9.99927809e-01 1.55483033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.640281693 meters Centerline goodness : 0.999320 with order 1 Centerline is valid? [True, True] Translation: X:142.86, Y:23.96, Z:1.55 [[ 9.34710189e-01 -3.55231126e-01 -1.13008770e-02 1.42857755e+02] [ 3.55207722e-01 9.34778481e-01 -4.08247551e-03 2.39622588e+01] [ 1.20140390e-02 -1.98227307e-04 9.99927809e-01 1.54870004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.700281693 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:142.92, Y:23.97, Z:1.55 [[ 9.34025483e-01 -3.57027582e-01 -1.13005479e-02 1.42915017e+02] [ 3.57004298e-01 9.34093816e-01 -4.08338624e-03 2.39749306e+01] [ 1.20136534e-02 -2.20357364e-04 9.99927809e-01 1.54909898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.760281693 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:142.97, Y:23.99, Z:1.55 [[ 9.34658817e-01 -3.55366303e-01 -1.12998154e-02 1.42972033e+02] [ 3.55342873e-01 9.34727100e-01 -4.08541225e-03 2.39866114e+01] [ 1.20140615e-02 -1.96842284e-04 9.99927809e-01 1.54991457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.820281693 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:143.03, Y:24.00, Z:1.55 [[ 9.37237265e-01 -3.48509166e-01 -1.12990868e-02 1.43027789e+02] [ 3.48485212e-01 9.37305366e-01 -4.08742638e-03 2.40032022e+01] [ 1.20152002e-02 -1.06676334e-04 9.99927809e-01 1.54915800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.880281693 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:143.08, Y:24.02, Z:1.55 [[ 9.38950596e-01 -3.43866437e-01 -1.12983246e-02 1.43083337e+02] [ 3.43842121e-01 9.39018568e-01 -4.08953211e-03 2.40214461e+01] [ 1.20155894e-02 -4.49712878e-05 9.99927809e-01 1.55198639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.940281693 meters Centerline goodness : 0.999345 with order 1 Centerline is valid? [True, True] Translation: X:143.14, Y:24.04, Z:1.55 [[ 9.40289585e-01 -3.40187980e-01 -1.12975545e-02 1.43138525e+02] [ 3.40163373e-01 9.40357452e-01 -4.09165850e-03 2.40384719e+01] [ 1.20156726e-02 4.32963795e-06 9.99927809e-01 1.55473941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.000281693 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:143.19, Y:24.06, Z:1.56 [[ 9.41279043e-01 -3.37440564e-01 -1.12973168e-02 1.43192331e+02] [ 3.37415750e-01 9.41346835e-01 -4.09231459e-03 2.40575408e+01] [ 1.20156064e-02 4.01173282e-05 9.99927809e-01 1.55618097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.060281693 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:143.25, Y:24.08, Z:1.55 [[ 9.42168699e-01 -3.34948540e-01 -1.12968059e-02 1.43246462e+02] [ 3.34923531e-01 9.42236419e-01 -4.09372440e-03 2.40775484e+01] [ 1.20154490e-02 7.34128712e-05 9.99927809e-01 1.55488251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.120281693 meters Centerline goodness : 0.999279 with order 1 Centerline is valid? [True, True] Translation: X:143.30, Y:24.10, Z:1.56 [[ 9.43050795e-01 -3.32456910e-01 -1.12960500e-02 1.43300396e+02] [ 3.32431696e-01 9.43118440e-01 -4.09580930e-03 2.40954392e+01] [ 1.20151931e-02 1.07391160e-04 9.99927809e-01 1.55554848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.180281693 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:143.36, Y:24.12, Z:1.56 [[ 9.43366866e-01 -3.31558994e-01 -1.12955370e-02 1.43355378e+02] [ 3.31533699e-01 9.43434481e-01 -4.09722341e-03 2.41152329e+01] [ 1.20150704e-02 1.20333635e-04 9.99927809e-01 1.55947297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.240281693 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:143.41, Y:24.13, Z:1.56 [[ 9.44427297e-01 -3.28526269e-01 -1.12947526e-02 1.43410220e+02] [ 3.28500732e-01 9.44494820e-01 -4.09938476e-03 2.41337309e+01] [ 1.20145909e-02 1.61236377e-04 9.99927809e-01 1.55878217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.300281693 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:143.46, Y:24.16, Z:1.56 [[ 9.46285292e-01 -3.23135564e-01 -1.12939774e-02 1.43463758e+02] [ 3.23109616e-01 9.46352658e-01 -4.10151937e-03 2.41552385e+01] [ 1.20134323e-02 2.32014755e-04 9.99927809e-01 1.55872874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.360281693 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:143.52, Y:24.18, Z:1.56 [[ 9.46940744e-01 -3.21209730e-01 -1.12932055e-02 1.43517064e+02] [ 3.21183620e-01 9.47008048e-01 -4.10364354e-03 2.41769185e+01] [ 1.20128867e-02 2.58714645e-04 9.99927809e-01 1.55624184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.420281693 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:143.57, Y:24.20, Z:1.56 [[ 9.45290762e-01 -3.26033507e-01 -1.12928457e-02 1.43571536e+02] [ 3.26007729e-01 9.45358193e-01 -4.10463342e-03 2.41983538e+01] [ 1.20140322e-02 1.98517074e-04 9.99927809e-01 1.55835336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.480281693 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:143.63, Y:24.22, Z:1.57 [[ 9.43137966e-01 -3.32209669e-01 -1.12921844e-02 1.43625543e+02] [ 3.32184311e-01 9.43205556e-01 -4.10645182e-03 2.42198705e+01] [ 1.20150541e-02 1.21864112e-04 9.99927809e-01 1.56599379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.540281693 meters Centerline goodness : 0.999367 with order 1 Centerline is valid? [True, True] Translation: X:143.68, Y:24.24, Z:1.56 [[ 9.42502824e-01 -3.34007382e-01 -1.12914350e-02 1.43679894e+02] [ 3.33982128e-01 9.42570453e-01 -4.10851160e-03 2.42416433e+01] [ 1.20152462e-02 1.01146308e-04 9.99927809e-01 1.56332262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.600281693 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:143.73, Y:24.26, Z:1.56 [[ 9.42357965e-01 -3.34415887e-01 -1.12906877e-02 1.43733297e+02] [ 3.34390637e-01 9.42425596e-01 -4.11056409e-03 2.42645809e+01] [ 1.20152711e-02 9.81225458e-05 9.99927809e-01 1.55610027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.660281693 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:143.79, Y:24.29, Z:1.56 [[ 9.41913836e-01 -3.35664791e-01 -1.12904570e-02 1.43787391e+02] [ 3.35639624e-01 9.41981497e-01 -4.11119764e-03 2.42852063e+01] [ 1.20153859e-02 8.28691878e-05 9.99927809e-01 1.56024364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.720281693 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:143.84, Y:24.31, Z:1.56 [[ 9.41068963e-01 -3.38026237e-01 -1.12902285e-02 1.43842100e+02] [ 3.38001232e-01 9.41136685e-01 -4.11182509e-03 2.43053724e+01] [ 1.20155530e-02 5.33998244e-05 9.99927809e-01 1.56399747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.780281693 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:143.90, Y:24.32, Z:1.57 [[ 9.40071914e-01 -3.40789292e-01 -1.12895828e-02 1.43895688e+02] [ 3.40764464e-01 9.40139702e-01 -4.11359713e-03 2.43240753e+01] [ 1.20156549e-02 1.99884860e-05 9.99927809e-01 1.56515829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.840281693 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:143.95, Y:24.34, Z:1.57 [[ 9.39924209e-01 -3.41196473e-01 -1.12892622e-02 1.43950274e+02] [ 3.41171664e-01 9.39992004e-01 -4.11447701e-03 2.43436618e+01] [ 1.20156612e-02 1.57201885e-05 9.99927809e-01 1.56680229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.900281693 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:144.00, Y:24.36, Z:1.57 [[ 9.40874674e-01 -3.38566710e-01 -1.12885138e-02 1.44004017e+02] [ 3.38541687e-01 9.40942390e-01 -4.11652910e-03 2.43630882e+01] [ 1.20155609e-02 5.15054624e-05 9.99927809e-01 1.57243815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.960281693 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:144.06, Y:24.38, Z:1.57 [[ 9.41723358e-01 -3.36198891e-01 -1.12881905e-02 1.44058091e+02] [ 3.36173687e-01 9.41791006e-01 -4.11741568e-03 2.43838412e+01] [ 1.20153868e-02 8.26739167e-05 9.99927809e-01 1.57337850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.020281693 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:144.11, Y:24.41, Z:1.57 [[ 9.44740193e-01 -3.27625643e-01 -1.12874361e-02 1.44110196e+02] [ 3.27599800e-01 9.44807600e-01 -4.11948259e-03 2.44074905e+01] [ 1.20141036e-02 1.94078959e-04 9.99927809e-01 1.57126851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.080281693 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:144.16, Y:24.43, Z:1.57 [[ 9.46781149e-01 -3.21680053e-01 -1.12871102e-02 1.44161519e+02] [ 3.21653777e-01 9.46848388e-01 -4.12037544e-03 2.44345263e+01] [ 1.20126247e-02 2.70552177e-04 9.99927809e-01 1.56905817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.140281693 meters Centerline goodness : 0.998902 with order 1 Centerline is valid? [True, True] Translation: X:144.21, Y:24.46, Z:1.57 [[ 9.47365064e-01 -3.19956315e-01 -1.12867899e-02 1.44214031e+02] [ 3.19929906e-01 9.47432251e-01 -4.12125265e-03 2.44597831e+01] [ 1.20120895e-02 2.93349165e-04 9.99927809e-01 1.57026051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.200281693 meters Centerline goodness : 0.999027 with order 1 Centerline is valid? [True, True] Translation: X:144.27, Y:24.49, Z:1.57 [[ 9.46805968e-01 -3.21607034e-01 -1.12860565e-02 1.44266583e+02] [ 3.21580718e-01 9.46873191e-01 -4.12326010e-03 2.44862789e+01] [ 1.20125338e-02 2.74549125e-04 9.99927809e-01 1.57068846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.260281693 meters Centerline goodness : 0.999278 with order 1 Centerline is valid? [True, True] Translation: X:144.32, Y:24.51, Z:1.57 [[ 9.45594331e-01 -3.25152277e-01 -1.12852845e-02 1.44317085e+02] [ 3.25126188e-01 9.45661643e-01 -4.12537176e-03 2.45139979e+01] [ 1.20134347e-02 2.31786599e-04 9.99927809e-01 1.57059883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.320281693 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:144.37, Y:24.54, Z:1.57 [[ 9.44467159e-01 -3.28411996e-01 -1.12847613e-02 1.44369891e+02] [ 3.28386122e-01 9.44534554e-01 -4.12680262e-03 2.45390932e+01] [ 1.20141385e-02 1.91870545e-04 9.99927809e-01 1.56990241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.380281693 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:144.42, Y:24.56, Z:1.57 [[ 9.42708184e-01 -3.33427579e-01 -1.12840088e-02 1.44423068e+02] [ 3.33402039e-01 9.42775707e-01 -4.12885925e-03 2.45617588e+01] [ 1.20149649e-02 1.30197878e-04 9.99927809e-01 1.57020961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.440281693 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:144.47, Y:24.59, Z:1.57 [[ 9.41760614e-01 -3.36094681e-01 -1.12832622e-02 1.44474936e+02] [ 3.36069308e-01 9.41828199e-01 -4.13089833e-03 2.45876674e+01] [ 1.20152675e-02 9.83592150e-05 9.99927809e-01 1.56887825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.500281693 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:144.53, Y:24.61, Z:1.57 [[ 9.40931090e-01 -3.38410090e-01 -1.12824962e-02 1.44528156e+02] [ 3.38384858e-01 9.40998728e-01 -4.13298959e-03 2.46087800e+01] [ 1.20154599e-02 7.10325422e-05 9.99927809e-01 1.56611927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.560281693 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:144.58, Y:24.63, Z:1.57 [[ 9.38715716e-01 -3.44507646e-01 -1.12821633e-02 1.44582790e+02] [ 3.44482843e-01 9.38783512e-01 -4.13389804e-03 2.46292479e+01] [ 1.20156684e-02 -5.95663367e-06 9.99927809e-01 1.57343769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.620281693 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:144.64, Y:24.65, Z:1.57 [[ 9.37243334e-01 -3.48493416e-01 -1.12814912e-02 1.44638170e+02] [ 3.48468879e-01 9.37311227e-01 -4.13573136e-03 2.46466015e+01] [ 1.20155435e-02 -5.50619514e-05 9.99927809e-01 1.57210670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.680281693 meters Centerline goodness : 0.998701 with order 1 Centerline is valid? [True, True] Translation: X:144.69, Y:24.66, Z:1.57 [[ 9.35885694e-01 -3.52123149e-01 -1.12807277e-02 1.44693185e+02] [ 3.52098851e-01 9.35953673e-01 -4.13781275e-03 2.46613392e+01] [ 1.20152582e-02 -9.94115156e-05 9.99927809e-01 1.57266130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.740281693 meters Centerline goodness : 0.998562 with order 1 Centerline is valid? [True, True] Translation: X:144.75, Y:24.68, Z:1.58 [[ 9.36556049e-01 -3.50336296e-01 -1.12803978e-02 1.44747208e+02] [ 3.50311857e-01 9.36623977e-01 -4.13871206e-03 2.46779649e+01] [ 1.20154321e-02 -7.55212940e-05 9.99927809e-01 1.57960038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.800281693 meters Centerline goodness : 0.998678 with order 1 Centerline is valid? [True, True] Translation: X:144.80, Y:24.70, Z:1.58 [[ 9.37573602e-01 -3.47603943e-01 -1.12800731e-02 1.44802245e+02] [ 3.47579295e-01 9.37641455e-01 -4.13959671e-03 2.46959287e+01] [ 1.20156043e-02 -3.95432734e-05 9.99927809e-01 1.58017922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.860281693 meters Centerline goodness : 0.998587 with order 1 Centerline is valid? [True, True] Translation: X:144.86, Y:24.72, Z:1.58 [[ 9.39262799e-01 -3.43013367e-01 -1.12793355e-02 1.44856931e+02] [ 3.42988364e-01 9.39330522e-01 -4.14160561e-03 2.47155615e+01] [ 1.20156502e-02 2.13752509e-05 9.99927809e-01 1.57587992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.920281693 meters Centerline goodness : 0.998411 with order 1 Centerline is valid? [True, True] Translation: X:144.91, Y:24.74, Z:1.58 [[ 9.40936113e-01 -3.38396255e-01 -1.12785918e-02 1.44911236e+02] [ 3.38370895e-01 9.41003702e-01 -4.14362987e-03 2.47371555e+01] [ 1.20153855e-02 8.25437760e-05 9.99927809e-01 1.57875545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.980281693 meters Centerline goodness : 0.998313 with order 1 Centerline is valid? [True, True] Translation: X:144.96, Y:24.76, Z:1.58 [[ 9.43209717e-01 -3.32006384e-01 -1.12778540e-02 1.44963259e+02] [ 3.31980542e-01 9.43277124e-01 -4.14563711e-03 2.47633085e+01] [ 1.20145197e-02 1.66177131e-04 9.99927809e-01 1.57954762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.040281693 meters Centerline goodness : 0.998159 with order 1 Centerline is valid? [True, True] Translation: X:145.01, Y:24.79, Z:1.58 [[ 9.42774643e-01 -3.33239851e-01 -1.12771190e-02 1.45014050e+02] [ 3.33214074e-01 9.42842075e-01 -4.14763542e-03 2.47901526e+01] [ 1.20146997e-02 1.52590743e-04 9.99927809e-01 1.58097907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.100281693 meters Centerline goodness : 0.998460 with order 1 Centerline is valid? [True, True] Translation: X:145.07, Y:24.82, Z:1.58 [[ 9.41881952e-01 -3.35754707e-01 -1.12768026e-02 1.45066882e+02] [ 3.35729099e-01 9.41949448e-01 -4.14849553e-03 2.48158721e+01] [ 1.20150549e-02 1.21442292e-04 9.99927809e-01 1.58212753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.160281693 meters Centerline goodness : 0.998043 with order 1 Centerline is valid? [True, True] Translation: X:145.12, Y:24.84, Z:1.58 [[ 9.40614816e-01 -3.39288398e-01 -1.12760852e-02 1.45118116e+02] [ 3.39263020e-01 9.40682400e-01 -4.15044449e-03 2.48410371e+01] [ 1.20154126e-02 7.84108472e-05 9.99927809e-01 1.58012555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.220281693 meters Centerline goodness : 0.998344 with order 1 Centerline is valid? [True, True] Translation: X:145.17, Y:24.87, Z:1.57 [[ 9.39279091e-01 -3.42968877e-01 -1.12755975e-02 1.45169497e+02] [ 3.42943748e-01 9.39346767e-01 -4.15176920e-03 2.48700926e+01] [ 1.20156236e-02 3.27743391e-05 9.99927809e-01 1.57407071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.280281693 meters Centerline goodness : 0.998487 with order 1 Centerline is valid? [True, True] Translation: X:145.22, Y:24.89, Z:1.58 [[ 9.37333699e-01 -3.48250487e-01 -1.12753776e-02 1.45222232e+02] [ 3.48225733e-01 9.37401513e-01 -4.15236626e-03 2.48934641e+01] [ 1.20156196e-02 -3.42237912e-05 9.99927809e-01 1.57790209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.340281693 meters Centerline goodness : 0.998202 with order 1 Centerline is valid? [True, True] Translation: X:145.28, Y:24.91, Z:1.58 [[ 9.33263573e-01 -3.59015300e-01 -1.12746341e-02 1.45276288e+02] [ 3.58991303e-01 9.33331659e-01 -4.15438399e-03 2.49142155e+01] [ 1.20144604e-02 -1.70360347e-04 9.99927809e-01 1.57732977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.400281693 meters Centerline goodness : 0.998002 with order 1 Centerline is valid? [True, True] Translation: X:145.33, Y:24.93, Z:1.57 [[ 9.30054533e-01 -3.67248506e-01 -1.12738586e-02 1.45331509e+02] [ 3.67225086e-01 9.30122820e-01 -4.15648752e-03 2.49326280e+01] [ 1.20125370e-02 -2.74283622e-04 9.99927809e-01 1.57149340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.460281693 meters Centerline goodness : 0.998387 with order 1 Centerline is valid? [True, True] Translation: X:145.39, Y:24.95, Z:1.58 [[ 9.27399027e-01 -3.73903664e-01 -1.12736203e-02 1.45388235e+02] [ 3.73880726e-01 9.27467477e-01 -4.15713359e-03 2.49463063e+01] [ 1.20102837e-02 -3.59667708e-04 9.99927809e-01 1.57573117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.520281693 meters Centerline goodness : 0.998209 with order 1 Centerline is valid? [True, True] Translation: X:145.44, Y:24.96, Z:1.58 [[ 9.27719147e-01 -3.73108692e-01 -1.12733927e-02 1.45443781e+02] [ 3.73085688e-01 9.27787574e-01 -4.15775068e-03 2.49631016e+01] [ 1.20106066e-02 -3.48716576e-04 9.99927809e-01 1.57880575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.580281693 meters Centerline goodness : 0.998124 with order 1 Centerline is valid? [True, True] Translation: X:145.50, Y:24.98, Z:1.58 [[ 9.29691739e-01 -3.68165992e-01 -1.12726602e-02 1.45501356e+02] [ 3.68142600e-01 9.29760035e-01 -4.15973582e-03 2.49760325e+01] [ 1.20123422e-02 -2.82674408e-04 9.99927809e-01 1.58342705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.640281693 meters Centerline goodness : 0.998007 with order 1 Centerline is valid? [True, True] Translation: X:145.56, Y:24.99, Z:1.59 [[ 9.31577201e-01 -3.63368766e-01 -1.12719760e-02 1.45557752e+02] [ 3.63345000e-01 9.31645368e-01 -4.16158896e-03 2.49889402e+01] [ 1.20136757e-02 -2.18774739e-04 9.99927809e-01 1.58995759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.700281693 meters Centerline goodness : 0.998103 with order 1 Centerline is valid? [True, True] Translation: X:145.62, Y:25.00, Z:1.59 [[ 9.32674097e-01 -3.60544004e-01 -1.12716107e-02 1.45615634e+02] [ 3.60520020e-01 9.32742188e-01 -4.16257814e-03 2.49991243e+01] [ 1.20142994e-02 -1.81312510e-04 9.99927809e-01 1.59092619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.760281693 meters Centerline goodness : 0.998386 with order 1 Centerline is valid? [True, True] Translation: X:145.67, Y:25.01, Z:1.59 [[ 9.33502817e-01 -3.58392882e-01 -1.12708726e-02 1.45672024e+02] [ 3.58368717e-01 9.33570843e-01 -4.16457565e-03 2.50127171e+01] [ 1.20147124e-02 -1.51485069e-04 9.99927809e-01 1.59315351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.820281693 meters Centerline goodness : 0.998084 with order 1 Centerline is valid? [True, True] Translation: X:145.73, Y:25.03, Z:1.59 [[ 9.34062580e-01 -3.56931480e-01 -1.12701020e-02 1.45728809e+02] [ 3.56907184e-01 9.34130559e-01 -4.16666026e-03 2.50273627e+01] [ 1.20149589e-02 -1.30458917e-04 9.99927809e-01 1.58969692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.880281693 meters Centerline goodness : 0.998121 with order 1 Centerline is valid? [True, True] Translation: X:145.78, Y:25.04, Z:1.59 [[ 9.34503963e-01 -3.55774291e-01 -1.12693219e-02 1.45783769e+02] [ 3.55749884e-01 9.34571903e-01 -4.16876893e-03 2.50417393e+01] [ 1.20151324e-02 -1.13328885e-04 9.99927809e-01 1.58814110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.940281693 meters Centerline goodness : 0.997877 with order 1 Centerline is valid? [True, True] Translation: X:145.84, Y:25.06, Z:1.59 [[ 9.35112474e-01 -3.54171811e-01 -1.12689832e-02 1.45840229e+02] [ 3.54147277e-01 9.35180368e-01 -4.16968435e-03 2.50565653e+01] [ 1.20153165e-02 -9.17558579e-05 9.99927809e-01 1.58977902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.000281693 meters Centerline goodness : 0.998112 with order 1 Centerline is valid? [True, True] Translation: X:145.90, Y:25.07, Z:1.59 [[ 9.35396170e-01 -3.53421891e-01 -1.12681934e-02 1.45895002e+02] [ 3.53397277e-01 9.35464035e-01 -4.17181759e-03 2.50740176e+01] [ 1.20154013e-02 -7.98466706e-05 9.99927809e-01 1.58791413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.060281693 meters Centerline goodness : 0.997754 with order 1 Centerline is valid? [True, True] Translation: X:145.95, Y:25.09, Z:1.59 [[ 9.35614527e-01 -3.52843439e-01 -1.12678520e-02 1.45949462e+02] [ 3.52818772e-01 9.35682373e-01 -4.17273940e-03 2.50907252e+01] [ 1.20154542e-02 -7.14341156e-05 9.99927809e-01 1.58711257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.120281693 meters Centerline goodness : 0.997936 with order 1 Centerline is valid? [True, True] Translation: X:146.00, Y:25.11, Z:1.59 [[ 9.35288385e-01 -3.53707053e-01 -1.12675172e-02 1.46004540e+02] [ 3.53682438e-01 9.35356250e-01 -4.17364343e-03 2.51080985e+01] [ 1.20153897e-02 -8.15627205e-05 9.99927809e-01 1.58665852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.180281693 meters Centerline goodness : 0.998001 with order 1 Centerline is valid? [True, True] Translation: X:146.06, Y:25.13, Z:1.59 [[ 9.35774249e-01 -3.52419658e-01 -1.12667265e-02 1.46058282e+02] [ 3.52394924e-01 9.35842070e-01 -4.17577674e-03 2.51280644e+01] [ 1.20155025e-02 -6.27528822e-05 9.99927809e-01 1.58858707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.240281693 meters Centerline goodness : 0.997838 with order 1 Centerline is valid? [True, True] Translation: X:146.11, Y:25.15, Z:1.59 [[ 9.36366381e-01 -3.50843368e-01 -1.12663834e-02 1.46111745e+02] [ 3.50818508e-01 9.36434157e-01 -4.17670231e-03 2.51509973e+01] [ 1.20155945e-02 -4.15321810e-05 9.99927809e-01 1.58755666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.300281693 meters Centerline goodness : 0.997928 with order 1 Centerline is valid? [True, True] Translation: X:146.16, Y:25.18, Z:1.59 [[ 9.35866693e-01 -3.52174133e-01 -1.12655976e-02 1.46163117e+02] [ 3.52149344e-01 9.35934494e-01 -4.17882079e-03 2.51758371e+01] [ 1.20155339e-02 -5.63535960e-05 9.99927809e-01 1.58715092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.360281693 meters Centerline goodness : 0.997655 with order 1 Centerline is valid? [True, True] Translation: X:146.22, Y:25.20, Z:1.59 [[ 9.34777351e-01 -3.55055493e-01 -1.12650658e-02 1.46217997e+02] [ 3.55030896e-01 9.34845222e-01 -4.18025374e-03 2.51973933e+01] [ 1.20153150e-02 -9.18398909e-05 9.99927809e-01 1.59128731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.420281693 meters Centerline goodness : 0.998082 with order 1 Centerline is valid? [True, True] Translation: X:146.27, Y:25.22, Z:1.59 [[ 9.33081868e-01 -3.59487608e-01 -1.12643956e-02 1.46270816e+02] [ 3.59463311e-01 9.33149848e-01 -4.18205893e-03 2.52196057e+01] [ 1.20147674e-02 -1.46933584e-04 9.99927809e-01 1.59148268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.480281693 meters Centerline goodness : 0.998152 with order 1 Centerline is valid? [True, True] Translation: X:146.32, Y:25.24, Z:1.59 [[ 9.32932837e-01 -3.59874203e-01 -1.12640640e-02 1.46325000e+02] [ 3.59849924e-01 9.33000823e-01 -4.18295180e-03 2.52396777e+01] [ 1.20147175e-02 -1.50959503e-04 9.99927809e-01 1.59105429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.540281693 meters Centerline goodness : 0.997921 with order 1 Centerline is valid? [True, True] Translation: X:146.38, Y:25.26, Z:1.60 [[ 9.35833969e-01 -3.52261156e-01 -1.12632821e-02 1.46380193e+02] [ 3.52236298e-01 9.35901745e-01 -4.18505626e-03 2.52594643e+01] [ 1.20155581e-02 -5.08189741e-05 9.99927809e-01 1.59881856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.600281693 meters Centerline goodness : 0.998267 with order 1 Centerline is valid? [True, True] Translation: X:146.43, Y:25.28, Z:1.60 [[ 9.38300813e-01 -3.45636715e-01 -1.12625772e-02 1.46433803e+02] [ 3.45611356e-01 9.38368403e-01 -4.18695236e-03 2.52786569e+01] [ 1.20156110e-02 3.61462231e-05 9.99927809e-01 1.60008555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.660281693 meters Centerline goodness : 0.998018 with order 1 Centerline is valid? [True, True] Translation: X:146.49, Y:25.30, Z:1.60 [[ 9.40162323e-01 -3.40540701e-01 -1.12622281e-02 1.46488093e+02] [ 3.40514964e-01 9.40229770e-01 -4.18789106e-03 2.52957223e+01] [ 1.20152295e-02 1.02340171e-04 9.99927809e-01 1.59798312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.720281693 meters Centerline goodness : 0.998130 with order 1 Centerline is valid? [True, True] Translation: X:146.54, Y:25.31, Z:1.60 [[ 9.40735214e-01 -3.38954904e-01 -1.12619008e-02 1.46543875e+02] [ 3.38929043e-01 9.40802614e-01 -4.18877104e-03 2.53119160e+01] [ 1.20150302e-02 1.23539151e-04 9.99927809e-01 1.59734239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.780281693 meters Centerline goodness : 0.998402 with order 1 Centerline is valid? [True, True] Translation: X:146.60, Y:25.33, Z:1.59 [[ 9.42605506e-01 -3.33718516e-01 -1.12611295e-02 1.46598384e+02] [ 3.33692256e-01 9.42672751e-01 -4.19084368e-03 2.53305440e+01] [ 1.20141221e-02 1.92560615e-04 9.99927809e-01 1.59066200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.840281693 meters Centerline goodness : 0.998296 with order 1 Centerline is valid? [True, True] Translation: X:146.65, Y:25.35, Z:1.59 [[ 9.44345480e-01 -3.28762538e-01 -1.12608912e-02 1.46653774e+02] [ 3.28735918e-01 9.44412583e-01 -4.19148397e-03 2.53487616e+01] [ 1.20129302e-02 2.56349545e-04 9.99927809e-01 1.59458795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.900281693 meters Centerline goodness : 0.998469 with order 1 Centerline is valid? [True, True] Translation: X:146.71, Y:25.37, Z:1.60 [[ 9.47235531e-01 -3.20340533e-01 -1.12601473e-02 1.46707034e+02] [ 3.20313292e-01 9.47302385e-01 -4.19348127e-03 2.53716608e+01] [ 1.20101065e-02 3.65439591e-04 9.99927809e-01 1.59635905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.960281693 meters Centerline goodness : 0.998147 with order 1 Centerline is valid? [True, True] Translation: X:146.76, Y:25.40, Z:1.60 [[ 9.48119718e-01 -3.17714064e-01 -1.12593990e-02 1.46760393e+02] [ 3.17686614e-01 9.48186486e-01 -4.19548965e-03 2.53951331e+01] [ 1.20089760e-02 4.00866119e-04 9.99927809e-01 1.59797301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.020281693 meters Centerline goodness : 0.998393 with order 1 Centerline is valid? [True, True] Translation: X:146.81, Y:25.42, Z:1.60 [[ 9.46987695e-01 -3.21072497e-01 -1.12586440e-02 1.46811930e+02] [ 3.21045261e-01 9.47054550e-01 -4.19751458e-03 2.54195117e+01] [ 1.20102566e-02 3.60460342e-04 9.99927809e-01 1.59967514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.080281693 meters Centerline goodness : 0.998396 with order 1 Centerline is valid? [True, True] Translation: X:146.87, Y:25.44, Z:1.60 [[ 9.46424833e-01 -3.22727880e-01 -1.12583177e-02 1.46865659e+02] [ 3.22700750e-01 9.46491732e-01 -4.19838958e-03 2.54418298e+01] [ 1.20108420e-02 3.40392574e-04 9.99927809e-01 1.60204354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.140281693 meters Centerline goodness : 0.998107 with order 1 Centerline is valid? [True, True] Translation: X:146.92, Y:25.47, Z:1.60 [[ 9.45284047e-01 -3.26054194e-01 -1.12575597e-02 1.46917639e+02] [ 3.26027276e-01 9.45351031e-01 -4.20042129e-03 2.54690544e+01] [ 1.20119106e-02 3.00319728e-04 9.99927809e-01 1.60393163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.200281693 meters Centerline goodness : 0.998512 with order 1 Centerline is valid? [True, True] Translation: X:146.97, Y:25.50, Z:1.60 [[ 9.44535211e-01 -3.28217184e-01 -1.12567795e-02 1.46968120e+02] [ 3.28190393e-01 9.44602247e-01 -4.20251115e-03 2.54965626e+01] [ 1.20125155e-02 2.75052878e-04 9.99927809e-01 1.60207204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.260281693 meters Centerline goodness : 0.998344 with order 1 Centerline is valid? [True, True] Translation: X:147.02, Y:25.52, Z:1.60 [[ 9.43631551e-01 -3.30806278e-01 -1.12562502e-02 1.47021239e+02] [ 3.30779655e-01 9.43698653e-01 -4.20392819e-03 2.55189653e+01] [ 1.20131940e-02 2.43620710e-04 9.99927809e-01 1.59994668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.320281693 meters Centerline goodness : 0.998316 with order 1 Centerline is valid? [True, True] Translation: X:147.08, Y:25.54, Z:1.60 [[ 9.41357114e-01 -3.37224106e-01 -1.12555197e-02 1.47075179e+02] [ 3.37197917e-01 9.41424386e-01 -4.20588327e-03 2.55393906e+01] [ 1.20145459e-02 1.63900353e-04 9.99927809e-01 1.60446924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.380281693 meters Centerline goodness : 0.998204 with order 1 Centerline is valid? [True, True] Translation: X:147.13, Y:25.56, Z:1.60 [[ 9.38187200e-01 -3.45945221e-01 -1.12552934e-02 1.47130367e+02] [ 3.45919650e-01 9.38254710e-01 -4.20648858e-03 2.55570098e+01] [ 1.20155467e-02 5.30465689e-05 9.99927809e-01 1.60396939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.440281693 meters Centerline goodness : 0.998007 with order 1 Centerline is valid? [True, True] Translation: X:147.19, Y:25.58, Z:1.60 [[ 9.37004032e-01 -3.49137193e-01 -1.12545291e-02 1.47185389e+02] [ 3.49111827e-01 9.37071620e-01 -4.20853272e-03 2.55767129e+01] [ 1.20156551e-02 1.43229308e-05 9.99927809e-01 1.60484607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.500281693 meters Centerline goodness : 0.997591 with order 1 Centerline is valid? [True, True] Translation: X:147.24, Y:25.59, Z:1.60 [[ 9.36724779e-01 -3.49885757e-01 -1.12537235e-02 1.47240685e+02] [ 3.49860420e-01 9.36792377e-01 -4.21068569e-03 2.55946028e+01] [ 1.20156613e-02 7.02119970e-06 9.99927809e-01 1.60352128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.560281693 meters Centerline goodness : 0.998048 with order 1 Centerline is valid? [True, True] Translation: X:147.30, Y:25.61, Z:1.60 [[ 9.38140194e-01 -3.46072749e-01 -1.12529210e-02 1.47295096e+02] [ 3.46047111e-01 9.38207679e-01 -4.21282924e-03 2.56140438e+01] [ 1.20155223e-02 5.81836399e-05 9.99927809e-01 1.60429979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.620281693 meters Centerline goodness : 0.997861 with order 1 Centerline is valid? [True, True] Translation: X:147.35, Y:25.64, Z:1.61 [[ 9.39820265e-01 -3.41483909e-01 -1.12520991e-02 1.47348091e+02] [ 3.41457915e-01 9.39887613e-01 -4.21502326e-03 2.56361665e+01] [ 1.20150712e-02 1.19245966e-04 9.99927809e-01 1.60573781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.680281693 meters Centerline goodness : 0.998146 with order 1 Centerline is valid? [True, True] Translation: X:147.40, Y:25.66, Z:1.61 [[ 9.41217706e-01 -3.37613134e-01 -1.12517432e-02 1.47401343e+02] [ 3.37586852e-01 9.41284942e-01 -4.21597317e-03 2.56600784e+01] [ 1.20144644e-02 1.69708033e-04 9.99927809e-01 1.60825024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.740281693 meters Centerline goodness : 0.998035 with order 1 Centerline is valid? [True, True] Translation: X:147.45, Y:25.68, Z:1.61 [[ 9.42599921e-01 -3.33734634e-01 -1.12509494e-02 1.47452984e+02] [ 3.33708050e-01 9.42667038e-01 -4.21809045e-03 2.56849610e+01] [ 1.20136220e-02 2.21439336e-04 9.99927809e-01 1.60800209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.800281693 meters Centerline goodness : 0.998369 with order 1 Centerline is valid? [True, True] Translation: X:147.51, Y:25.71, Z:1.61 [[ 9.43438453e-01 -3.31356771e-01 -1.12506064e-02 1.47505587e+02] [ 3.31330007e-01 9.43505499e-01 -4.21900513e-03 2.57097183e+01] [ 1.20130049e-02 2.52708178e-04 9.99927809e-01 1.61000517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.860281693 meters Centerline goodness : 0.998367 with order 1 Centerline is valid? [True, True] Translation: X:147.56, Y:25.74, Z:1.61 [[ 9.42957316e-01 -3.32723521e-01 -1.12498149e-02 1.47556653e+02] [ 3.32696829e-01 9.43024391e-01 -4.22111461e-03 2.57381519e+01] [ 1.20133140e-02 2.37553173e-04 9.99927809e-01 1.61185298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.920281693 meters Centerline goodness : 0.998249 with order 1 Centerline is valid? [True, True] Translation: X:147.61, Y:25.76, Z:1.61 [[ 9.40758206e-01 -3.38891495e-01 -1.12495702e-02 1.47609496e+02] [ 3.38865235e-01 9.40825451e-01 -4.22176655e-03 2.57611244e+01] [ 1.20146028e-02 1.59573268e-04 9.99927809e-01 1.61184527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.980281693 meters Centerline goodness : 0.998448 with order 1 Centerline is valid? [True, True] Translation: X:147.66, Y:25.78, Z:1.61 [[ 9.39125124e-01 -3.43391128e-01 -1.12487981e-02 1.47663247e+02] [ 3.43365166e-01 9.39192484e-01 -4.22382279e-03 2.57821490e+01] [ 1.20152099e-02 1.04252662e-04 9.99927809e-01 1.61222730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.040281693 meters Centerline goodness : 0.998329 with order 1 Centerline is valid? [True, True] Translation: X:147.72, Y:25.80, Z:1.62 [[ 9.37936042e-01 -3.46625825e-01 -1.12480267e-02 1.47715436e+02] [ 3.46600070e-01 9.38003483e-01 -4.22587611e-03 2.58045001e+01] [ 1.20154860e-02 6.50346694e-05 9.99927809e-01 1.61679726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.100281693 meters Centerline goodness : 0.998567 with order 1 Centerline is valid? [True, True] Translation: X:147.77, Y:25.83, Z:1.62 [[ 9.38011101e-01 -3.46422672e-01 -1.12475025e-02 1.47768539e+02] [ 3.46396886e-01 9.38078529e-01 -4.22727098e-03 2.58283045e+01] [ 1.20154631e-02 6.91272746e-05 9.99927809e-01 1.61591178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.160281693 meters Centerline goodness : 0.998412 with order 1 Centerline is valid? [True, True] Translation: X:147.82, Y:25.85, Z:1.61 [[ 9.38409494e-01 -3.45342051e-01 -1.12467084e-02 1.47821991e+02] [ 3.45316162e-01 9.38476883e-01 -4.22938261e-03 2.58501754e+01] [ 1.20153595e-02 8.52226343e-05 9.99927809e-01 1.61019536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.220281693 meters Centerline goodness : 0.998223 with order 1 Centerline is valid? [True, True] Translation: X:147.88, Y:25.87, Z:1.61 [[ 9.37759240e-01 -3.47103911e-01 -1.12464633e-02 1.47876408e+02] [ 3.47078141e-01 9.37826674e-01 -4.23003419e-03 2.58708209e+01] [ 1.20154947e-02 6.33520805e-05 9.99927809e-01 1.61170895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.280281693 meters Centerline goodness : 0.998267 with order 1 Centerline is valid? [True, True] Translation: X:147.93, Y:25.89, Z:1.62 [[ 9.37360789e-01 -3.48178525e-01 -1.12456820e-02 1.47931315e+02] [ 3.48152807e-01 9.37428244e-01 -4.23211027e-03 2.58915900e+01] [ 1.20155498e-02 5.17984757e-05 9.99927809e-01 1.61593417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.340281693 meters Centerline goodness : 0.998353 with order 1 Centerline is valid? [True, True] Translation: X:147.99, Y:25.91, Z:1.62 [[ 9.37887707e-01 -3.46756686e-01 -1.12449848e-02 1.47985788e+02] [ 3.46730844e-01 9.37955114e-01 -4.23396202e-03 2.59105054e+01] [ 1.20154456e-02 7.19978746e-05 9.99927809e-01 1.61961860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.400281693 meters Centerline goodness : 0.998074 with order 1 Centerline is valid? [True, True] Translation: X:148.04, Y:25.93, Z:1.62 [[ 9.39620016e-01 -3.42034767e-01 -1.12447386e-02 1.48039531e+02] [ 3.42008578e-01 9.39687289e-01 -4.23461581e-03 2.59315153e+01] [ 1.20149237e-02 1.33132731e-04 9.99927809e-01 1.61671130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.460281693 meters Centerline goodness : 0.998393 with order 1 Centerline is valid? [True, True] Translation: X:148.09, Y:25.95, Z:1.62 [[ 9.42013079e-01 -3.35387735e-01 -1.12439344e-02 1.48091737e+02] [ 3.35361046e-01 9.42080155e-01 -4.23674989e-03 2.59536470e+01] [ 1.20136414e-02 2.20296193e-04 9.99927809e-01 1.61801427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.520281693 meters Centerline goodness : 0.998440 with order 1 Centerline is valid? [True, True] Translation: X:148.14, Y:25.98, Z:1.62 [[ 9.42632851e-01 -3.33641859e-01 -1.12435869e-02 1.48143799e+02] [ 3.33615035e-01 9.42699873e-01 -4.23767193e-03 2.59770583e+01] [ 1.20131927e-02 2.43539128e-04 9.99927809e-01 1.61960388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.580281693 meters Centerline goodness : 0.998547 with order 1 Centerline is valid? [True, True] Translation: X:148.20, Y:26.00, Z:1.62 [[ 9.40830654e-01 -3.38690523e-01 -1.12432559e-02 1.48195103e+02] [ 3.38664048e-01 9.40897815e-01 -4.23854994e-03 2.60016289e+01] [ 1.20143116e-02 1.80071152e-04 9.99927809e-01 1.62158494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.640281693 meters Centerline goodness : 0.998750 with order 1 Centerline is valid? [True, True] Translation: X:148.25, Y:26.02, Z:1.62 [[ 9.39491340e-01 -3.42388111e-01 -1.12429290e-02 1.48248408e+02] [ 3.42361890e-01 9.39558600e-01 -4.23941685e-03 2.60243445e+01] [ 1.20149166e-02 1.33744980e-04 9.99927809e-01 1.62035942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.700281693 meters Centerline goodness : 0.998733 with order 1 Centerline is valid? [True, True] Translation: X:148.30, Y:26.05, Z:1.62 [[ 9.36996062e-01 -3.49158982e-01 -1.12421470e-02 1.48302096e+02] [ 3.49133222e-01 9.37063500e-01 -4.24148963e-03 2.60469197e+01] [ 1.20155598e-02 4.92520704e-05 9.99927809e-01 1.62021064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.760281693 meters Centerline goodness : 0.998655 with order 1 Centerline is valid? [True, True] Translation: X:148.36, Y:26.07, Z:1.62 [[ 9.35048336e-01 -3.54341966e-01 -1.12419052e-02 1.48355122e+02] [ 3.54316572e-01 9.35115913e-01 -4.24213034e-03 2.60697248e+01] [ 1.20156493e-02 -1.65964097e-05 9.99927809e-01 1.62411922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.820281693 meters Centerline goodness : 0.998727 with order 1 Centerline is valid? [True, True] Translation: X:148.41, Y:26.09, Z:1.62 [[ 9.34450597e-01 -3.55915326e-01 -1.12411015e-02 1.48408614e+02] [ 3.55890021e-01 9.34518207e-01 -4.24425915e-03 2.60905406e+01] [ 1.20156109e-02 -3.45453346e-05 9.99927809e-01 1.62414285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.880281693 meters Centerline goodness : 0.998645 with order 1 Centerline is valid? [True, True] Translation: X:148.46, Y:26.11, Z:1.62 [[ 9.33823609e-01 -3.57557146e-01 -1.12407560e-02 1.48462202e+02] [ 3.57531948e-01 9.33891260e-01 -4.24517385e-03 2.61120652e+01] [ 1.20155360e-02 -5.46858338e-05 9.99927809e-01 1.61756829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.940281693 meters Centerline goodness : 0.998498 with order 1 Centerline is valid? [True, True] Translation: X:148.52, Y:26.13, Z:1.62 [[ 9.34263978e-01 -3.56404925e-01 -1.12405166e-02 1.48516453e+02] [ 3.56379636e-01 9.34331594e-01 -4.24580769e-03 2.61337996e+01] [ 1.20155966e-02 -3.91860421e-05 9.99927809e-01 1.61795137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.000281693 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:148.57, Y:26.16, Z:1.63 [[ 9.35439006e-01 -3.53309400e-01 -1.12398239e-02 1.48570250e+02] [ 3.53283866e-01 9.35506530e-01 -4.24764074e-03 2.61554132e+01] [ 1.20156600e-02 2.56039662e-06 9.99927809e-01 1.62760142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.060281693 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:148.62, Y:26.18, Z:1.63 [[ 9.36571152e-01 -3.50297230e-01 -1.12395783e-02 1.48624117e+02] [ 3.50271470e-01 9.36638590e-01 -4.24829037e-03 2.61781442e+01] [ 1.20155872e-02 4.19225744e-05 9.99927809e-01 1.63061463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.120281693 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:148.68, Y:26.20, Z:1.63 [[ 9.37508582e-01 -3.47780602e-01 -1.12387890e-02 1.48677130e+02] [ 3.47754637e-01 9.37575942e-01 -4.25037757e-03 2.62021703e+01] [ 1.20154170e-02 7.64244652e-05 9.99927809e-01 1.62902990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.180281693 meters Centerline goodness : 0.998700 with order 1 Centerline is valid? [True, True] Translation: X:148.73, Y:26.22, Z:1.63 [[ 9.37677759e-01 -3.47324239e-01 -1.12379773e-02 1.48729591e+02] [ 3.47298215e-01 9.37745096e-01 -4.25252253e-03 2.62249533e+01] [ 1.20153623e-02 8.45663326e-05 9.99927809e-01 1.62879624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.240281693 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:148.78, Y:26.25, Z:1.63 [[ 9.36283356e-01 -3.51065803e-01 -1.12374274e-02 1.48783183e+02] [ 3.51040031e-01 9.36350789e-01 -4.25397530e-03 2.62469499e+01] [ 1.20155992e-02 3.81394250e-05 9.99927809e-01 1.63413001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.300281693 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:148.84, Y:26.27, Z:1.63 [[ 9.34214911e-01 -3.56533625e-01 -1.12371837e-02 1.48837807e+02] [ 3.56508239e-01 9.34282491e-01 -4.25461876e-03 2.62653411e+01] [ 1.20156187e-02 -3.14203018e-05 9.99927809e-01 1.63467373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.360281693 meters Centerline goodness : 0.998763 with order 1 Centerline is valid? [True, True] Translation: X:148.89, Y:26.28, Z:1.63 [[ 9.33073670e-01 -3.59509764e-01 -1.12363732e-02 1.48894038e+02] [ 3.59484569e-01 9.33141321e-01 -4.25675828e-03 2.62837982e+01] [ 1.20154703e-02 -6.74337001e-05 9.99927809e-01 1.62857087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.420281693 meters Centerline goodness : 0.998502 with order 1 Centerline is valid? [True, True] Translation: X:148.95, Y:26.30, Z:1.63 [[ 9.32327299e-01 -3.61440960e-01 -1.12356729e-02 1.48949423e+02] [ 3.61415882e-01 9.32394994e-01 -4.25860600e-03 2.63000435e+01] [ 1.20153198e-02 -9.03359931e-05 9.99927809e-01 1.62548590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.480281693 meters Centerline goodness : 0.998436 with order 1 Centerline is valid? [True, True] Translation: X:149.00, Y:26.32, Z:1.63 [[ 9.32153451e-01 -3.61889084e-01 -1.12354252e-02 1.49004746e+02] [ 3.61864031e-01 9.32221155e-01 -4.25925943e-03 2.63168169e+01] [ 1.20152805e-02 -9.54128626e-05 9.99927809e-01 1.62897701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.540281693 meters Centerline goodness : 0.998847 with order 1 Centerline is valid? [True, True] Translation: X:149.06, Y:26.33, Z:1.63 [[ 9.32134673e-01 -3.61937473e-01 -1.12346430e-02 1.49060684e+02] [ 3.61912398e-01 9.32202369e-01 -4.26132142e-03 2.63338541e+01] [ 1.20152928e-02 -9.38311617e-05 9.99927809e-01 1.62983779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.600281693 meters Centerline goodness : 0.998774 with order 1 Centerline is valid? [True, True] Translation: X:149.12, Y:26.35, Z:1.63 [[ 9.29953834e-01 -3.67504649e-01 -1.12338604e-02 1.49117665e+02] [ 3.67479955e-01 9.30021670e-01 -4.26338360e-03 2.63475148e+01] [ 1.20145469e-02 -1.63468599e-04 9.99927809e-01 1.62991918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.660281693 meters Centerline goodness : 0.998797 with order 1 Centerline is valid? [True, True] Translation: X:149.17, Y:26.36, Z:1.63 [[ 9.27505602e-01 -3.73640422e-01 -1.12336185e-02 1.49174711e+02] [ 3.73616169e-01 9.27573596e-01 -4.26402089e-03 2.63602900e+01] [ 1.20132185e-02 -2.42158253e-04 9.99927809e-01 1.62640245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.720281693 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:149.23, Y:26.37, Z:1.63 [[ 9.25343303e-01 -3.78963827e-01 -1.12333815e-02 1.49232829e+02] [ 3.78939958e-01 9.25411434e-01 -4.26464519e-03 2.63741581e+01] [ 1.20116460e-02 -3.10516253e-04 9.99927809e-01 1.62620225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.780281693 meters Centerline goodness : 0.998594 with order 1 Centerline is valid? [True, True] Translation: X:149.29, Y:26.38, Z:1.63 [[ 9.25035196e-01 -3.79715304e-01 -1.12327210e-02 1.49292683e+02] [ 3.79691468e-01 9.25103338e-01 -4.26638422e-03 2.63820812e+01] [ 1.20114391e-02 -3.18412765e-04 9.99927809e-01 1.63016756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.840281693 meters Centerline goodness : 0.998732 with order 1 Centerline is valid? [True, True] Translation: X:149.35, Y:26.39, Z:1.63 [[ 9.27482765e-01 -3.73697154e-01 -1.12320492e-02 1.49350145e+02] [ 3.73672855e-01 9.27550743e-01 -4.26815203e-03 2.63927674e+01] [ 1.20132919e-02 -2.38474461e-04 9.99927809e-01 1.62755193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.900281693 meters Centerline goodness : 0.998746 with order 1 Centerline is valid? [True, True] Translation: X:149.41, Y:26.41, Z:1.63 [[ 9.29693640e-01 -3.68162445e-01 -1.12316946e-02 1.49407144e+02] [ 3.68137730e-01 9.29761468e-01 -4.26908493e-03 2.64083649e+01] [ 1.20145136e-02 -1.65869461e-04 9.99927809e-01 1.63078441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.960281693 meters Centerline goodness : 0.998788 with order 1 Centerline is valid? [True, True] Translation: X:149.46, Y:26.42, Z:1.64 [[ 9.32902303e-01 -3.59954381e-01 -1.12310297e-02 1.49463327e+02] [ 3.59929048e-01 9.32969903e-01 -4.27083356e-03 2.64248550e+01] [ 1.20155179e-02 -5.81033648e-05 9.99927809e-01 1.63728982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.020281693 meters Centerline goodness : 0.998839 with order 1 Centerline is valid? [True, True] Translation: X:149.52, Y:26.44, Z:1.63 [[ 9.35020413e-01 -3.54416007e-01 -1.12303409e-02 1.49518548e+02] [ 3.54390252e-01 9.35087854e-01 -4.27264412e-03 2.64436427e+01] [ 1.20156488e-02 1.50861447e-05 9.99927809e-01 1.63236641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.080281693 meters Centerline goodness : 0.998442 with order 1 Centerline is valid? [True, True] Translation: X:149.57, Y:26.47, Z:1.63 [[ 9.36387905e-01 -3.50787082e-01 -1.12300972e-02 1.49573071e+02] [ 3.50761058e-01 9.36455242e-01 -4.27328437e-03 2.64651741e+01] [ 1.20154964e-02 6.23710154e-05 9.99927809e-01 1.63224605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.140281693 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:149.63, Y:26.49, Z:1.64 [[ 9.38923973e-01 -3.43941381e-01 -1.12293924e-02 1.49625858e+02] [ 3.43914844e-01 9.38991109e-01 -4.27513577e-03 2.64875779e+01] [ 1.20146957e-02 1.52072729e-04 9.99927809e-01 1.63640739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.200281693 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:149.68, Y:26.51, Z:1.64 [[ 9.40594116e-01 -3.39347338e-01 -1.12290939e-02 1.49679528e+02] [ 3.39320463e-01 9.40661118e-01 -4.27591968e-03 2.65104878e+01] [ 1.20137940e-02 2.11643552e-04 9.99927809e-01 1.63780246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.260281693 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:149.73, Y:26.54, Z:1.64 [[ 9.40440904e-01 -3.39771733e-01 -1.12283524e-02 1.49731740e+02] [ 3.39744865e-01 9.40507909e-01 -4.27786593e-03 2.65355652e+01] [ 1.20138521e-02 2.08305030e-04 9.99927809e-01 1.63890838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.320281693 meters Centerline goodness : 0.999044 with order 1 Centerline is valid? [True, True] Translation: X:149.78, Y:26.56, Z:1.64 [[ 9.38336605e-01 -3.45540674e-01 -1.12275660e-02 1.49784814e+02] [ 3.45514194e-01 9.38403764e-01 -4.27992876e-03 2.65574989e+01] [ 1.20148797e-02 1.36730395e-04 9.99927809e-01 1.63843059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.380281693 meters Centerline goodness : 0.998727 with order 1 Centerline is valid? [True, True] Translation: X:149.84, Y:26.58, Z:1.64 [[ 9.36197802e-01 -3.51294220e-01 -1.12270322e-02 1.49840156e+02] [ 3.51268136e-01 9.36265116e-01 -4.28132876e-03 2.65788472e+01] [ 1.20154846e-02 6.44719257e-05 9.99927809e-01 1.63575719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.440281693 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:149.89, Y:26.60, Z:1.64 [[ 9.36240803e-01 -3.51179623e-01 -1.12263949e-02 1.49892635e+02] [ 3.51153511e-01 9.36308105e-01 -4.28299899e-03 2.66031373e+01] [ 1.20154666e-02 6.77304103e-05 9.99927809e-01 1.64244097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.500281693 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:149.95, Y:26.63, Z:1.64 [[ 9.36696461e-01 -3.49962447e-01 -1.12261517e-02 1.49945964e+02] [ 3.49936240e-01 9.36763726e-01 -4.28363641e-03 2.66257025e+01] [ 1.20153636e-02 8.40297435e-05 9.99927809e-01 1.64379029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.560281693 meters Centerline goodness : 0.998817 with order 1 Centerline is valid? [True, True] Translation: X:150.00, Y:26.65, Z:1.64 [[ 9.36951071e-01 -3.49280233e-01 -1.12253819e-02 1.49999919e+02] [ 3.49253952e-01 9.37018308e-01 -4.28565285e-03 2.66469745e+01] [ 1.20152822e-02 9.49380402e-05 9.99927809e-01 1.64051514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.620281693 meters Centerline goodness : 0.998582 with order 1 Centerline is valid? [True, True] Translation: X:150.05, Y:26.67, Z:1.64 [[ 9.36312889e-01 -3.50987439e-01 -1.12246102e-02 1.50054356e+02] [ 3.50961257e-01 9.36380164e-01 -4.28767310e-03 2.66693929e+01] [ 1.20154217e-02 7.52002902e-05 9.99927809e-01 1.63594154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.680281693 meters Centerline goodness : 0.998726 with order 1 Centerline is valid? [True, True] Translation: X:150.11, Y:26.69, Z:1.64 [[ 9.35327678e-01 -3.53604521e-01 -1.12239354e-02 1.50110306e+02] [ 3.53578506e-01 9.35395019e-01 -4.28943862e-03 2.66874684e+01] [ 1.20155782e-02 4.34883440e-05 9.99927809e-01 1.64118713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.740281693 meters Centerline goodness : 0.998915 with order 1 Centerline is valid? [True, True] Translation: X:150.17, Y:26.70, Z:1.65 [[ 9.34557674e-01 -3.55634635e-01 -1.12232395e-02 1.50166384e+02] [ 3.55608744e-01 9.34625062e-01 -4.29125871e-03 2.67045674e+01] [ 1.20156412e-02 1.93466516e-05 9.99927809e-01 1.64548160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.800281693 meters Centerline goodness : 0.998675 with order 1 Centerline is valid? [True, True] Translation: X:150.22, Y:26.72, Z:1.65 [[ 9.34398844e-01 -3.56051759e-01 -1.12225532e-02 1.50222089e+02] [ 3.56025877e-01 9.34466235e-01 -4.29305276e-03 2.67206727e+01] [ 1.20156461e-02 1.59041756e-05 9.99927809e-01 1.64614593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.860281693 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:150.28, Y:26.74, Z:1.65 [[ 9.34832500e-01 -3.54911635e-01 -1.12217751e-02 1.50278416e+02] [ 3.54885647e-01 9.34899850e-01 -4.29508566e-03 2.67359203e+01] [ 1.20156118e-02 3.27387369e-05 9.99927809e-01 1.64748998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.920281693 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:150.33, Y:26.75, Z:1.65 [[ 9.36435551e-01 -3.50660160e-01 -1.12210031e-02 1.50334346e+02] [ 3.50633842e-01 9.36502773e-01 -4.29710163e-03 2.67522653e+01] [ 1.20153229e-02 8.94952973e-05 9.99927809e-01 1.64790721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.980281693 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:150.39, Y:26.77, Z:1.65 [[ 9.36226920e-01 -3.51216831e-01 -1.12201926e-02 1.50389911e+02] [ 3.51190527e-01 9.36294147e-01 -4.29921692e-03 2.67667772e+01] [ 1.20153580e-02 8.46172541e-05 9.99927809e-01 1.64742411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.040281693 meters Centerline goodness : 0.998941 with order 1 Centerline is valid? [True, True] Translation: X:150.45, Y:26.78, Z:1.64 [[ 9.34936411e-01 -3.54637874e-01 -1.12198427e-02 1.50445527e+02] [ 3.54611806e-01 9.35003731e-01 -4.30012997e-03 2.67832545e+01] [ 1.20155837e-02 4.16594156e-05 9.99927809e-01 1.64392270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.100281693 meters Centerline goodness : 0.998541 with order 1 Centerline is valid? [True, True] Translation: X:150.50, Y:26.80, Z:1.64 [[ 9.33931876e-01 -3.57274923e-01 -1.12195992e-02 1.50502387e+02] [ 3.57249037e-01 9.33999266e-01 -4.30076516e-03 2.68005790e+01] [ 1.20156530e-02 8.43067234e-06 9.99927809e-01 1.63974985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.160281693 meters Centerline goodness : 0.998900 with order 1 Centerline is valid? [True, True] Translation: X:150.56, Y:26.82, Z:1.65 [[ 9.35087832e-01 -3.54238455e-01 -1.12189191e-02 1.50556748e+02] [ 3.54212329e-01 9.35155129e-01 -4.30253851e-03 2.68231481e+01] [ 1.20155543e-02 4.93719497e-05 9.99927809e-01 1.64785412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.220281693 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:150.61, Y:26.85, Z:1.65 [[ 9.35007443e-01 -3.54450607e-01 -1.12182215e-02 1.50611087e+02] [ 3.54424474e-01 9.35074738e-01 -4.30435672e-03 2.68450122e+01] [ 1.20155573e-02 4.85933242e-05 9.99927809e-01 1.65301810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.280281693 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:150.67, Y:26.86, Z:1.65 [[ 9.34055690e-01 -3.56951166e-01 -1.12175155e-02 1.50666105e+02] [ 3.56925191e-01 9.34123046e-01 -4.30619568e-03 2.68635468e+01] [ 1.20156413e-02 1.84127024e-05 9.99927809e-01 1.64964273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.340281693 meters Centerline goodness : 0.999027 with order 1 Centerline is valid? [True, True] Translation: X:150.72, Y:26.88, Z:1.64 [[ 9.32613455e-01 -3.60702532e-01 -1.12172664e-02 1.50721731e+02] [ 3.60676820e-01 9.32680911e-01 -4.30684459e-03 2.68827689e+01] [ 1.20156200e-02 -2.91867556e-05 9.99927809e-01 1.64331612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.400281693 meters Centerline goodness : 0.998963 with order 1 Centerline is valid? [True, True] Translation: X:150.78, Y:26.90, Z:1.65 [[ 9.31688898e-01 -3.63083991e-01 -1.12165853e-02 1.50777820e+02] [ 3.63058431e-01 9.31756412e-01 -4.30861757e-03 2.69014247e+01] [ 1.20155154e-02 -5.79847026e-05 9.99927809e-01 1.65121123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.460281693 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:150.83, Y:26.92, Z:1.65 [[ 9.31834887e-01 -3.62709180e-01 -1.12158352e-02 1.50831854e+02] [ 3.62683568e-01 9.31902381e-01 -4.31056947e-03 2.69214506e+01] [ 1.20155466e-02 -5.10601020e-05 9.99927809e-01 1.65473091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.520281693 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:150.88, Y:26.94, Z:1.66 [[ 9.32020530e-01 -3.62231891e-01 -1.12155707e-02 1.50884764e+02] [ 3.62206237e-01 9.32088008e-01 -4.31125738e-03 2.69428124e+01] [ 1.20155739e-02 -4.41692701e-05 9.99927809e-01 1.65518243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.580281693 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:150.94, Y:26.97, Z:1.66 [[ 9.32450075e-01 -3.61124739e-01 -1.12152181e-02 1.50936799e+02] [ 3.61098993e-01 9.32517519e-01 -4.31217438e-03 2.69677715e+01] [ 1.20156202e-02 -2.89166487e-05 9.99927809e-01 1.66097573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.640281693 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:150.99, Y:27.00, Z:1.66 [[ 9.32517387e-01 -3.60950894e-01 -1.12149753e-02 1.50988786e+02] [ 3.60925128e-01 9.32584823e-01 -4.31280586e-03 2.69951003e+01] [ 1.20156269e-02 -2.59999455e-05 9.99927809e-01 1.66194913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.700281693 meters Centerline goodness : 0.998838 with order 1 Centerline is valid? [True, True] Translation: X:151.04, Y:27.02, Z:1.66 [[ 9.31919419e-01 -3.62491984e-01 -1.12141785e-02 1.51041736e+02] [ 3.62466305e-01 9.31986888e-01 -4.31487680e-03 2.70206030e+01] [ 1.20155755e-02 -4.36443509e-05 9.99927809e-01 1.65692261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.760281693 meters Centerline goodness : 0.998934 with order 1 Centerline is valid? [True, True] Translation: X:151.09, Y:27.05, Z:1.66 [[ 9.30511868e-01 -3.66090045e-01 -1.12134864e-02 1.51092797e+02] [ 3.66064605e-01 9.30579428e-01 -4.31667463e-03 2.70476524e+01] [ 1.20153313e-02 -8.81434935e-05 9.99927809e-01 1.66092455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.820281693 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:151.15, Y:27.07, Z:1.66 [[ 9.29180949e-01 -3.69455040e-01 -1.12132415e-02 1.51145135e+02] [ 3.69429837e-01 9.29248598e-01 -4.31731077e-03 2.70720765e+01] [ 1.20149411e-02 -1.30943050e-04 9.99927809e-01 1.66035341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.880281693 meters Centerline goodness : 0.998672 with order 1 Centerline is valid? [True, True] Translation: X:151.20, Y:27.10, Z:1.66 [[ 9.27292688e-01 -3.74169149e-01 -1.12124625e-02 1.51197606e+02] [ 3.74144265e-01 9.27360454e-01 -4.31933292e-03 2.70987769e+01] [ 1.20141554e-02 -1.89792701e-04 9.99927809e-01 1.65811064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.940281693 meters Centerline goodness : 0.999169 with order 1 Centerline is valid? [True, True] Translation: X:151.25, Y:27.12, Z:1.66 [[ 9.27465352e-01 -3.73740977e-01 -1.12117525e-02 1.51250722e+02] [ 3.73716040e-01 9.27533098e-01 -4.32117505e-03 2.71232251e+01] [ 1.20142717e-02 -1.82271609e-04 9.99927809e-01 1.66080775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.000281693 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:151.30, Y:27.15, Z:1.66 [[ 9.26797826e-01 -3.75393267e-01 -1.12109471e-02 1.51303135e+02] [ 3.75368425e-01 9.26865608e-01 -4.32326347e-03 2.71454274e+01] [ 1.20139653e-02 -2.01444391e-04 9.99927809e-01 1.65887788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.060281693 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:151.36, Y:27.16, Z:1.66 [[ 9.25987626e-01 -3.77387386e-01 -1.12105992e-02 1.51358377e+02] [ 3.77362680e-01 9.26055457e-01 -4.32416560e-03 2.71646488e+01] [ 1.20135221e-02 -2.26337901e-04 9.99927809e-01 1.65962683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.120281693 meters Centerline goodness : 0.999027 with order 1 Centerline is valid? [True, True] Translation: X:151.41, Y:27.18, Z:1.66 [[ 9.26571977e-01 -3.75950410e-01 -1.12098044e-02 1.51413137e+02] [ 3.75925574e-01 9.26639761e-01 -4.32622483e-03 2.71835726e+01] [ 1.20138965e-02 -2.05493465e-04 9.99927809e-01 1.66131942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.180281693 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:151.47, Y:27.20, Z:1.67 [[ 9.29179136e-01 -3.69459717e-01 -1.12094331e-02 1.51469051e+02] [ 3.69434395e-01 9.29246740e-01 -4.32718674e-03 2.72027902e+01] [ 1.20150504e-02 -1.20418508e-04 9.99927809e-01 1.66630361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.240281693 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:151.52, Y:27.22, Z:1.67 [[ 9.33088691e-01 -3.59471639e-01 -1.12087472e-02 1.51523041e+02] [ 3.59445572e-01 9.33156011e-01 -4.32896283e-03 2.72226977e+01] [ 1.20156492e-02 1.03717165e-05 9.99927809e-01 1.66911593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.300281693 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:151.58, Y:27.24, Z:1.67 [[ 9.34799955e-01 -3.54997784e-01 -1.12079545e-02 1.51577048e+02] [ 3.54971371e-01 9.34867139e-01 -4.33101420e-03 2.72440631e+01] [ 1.20154488e-02 7.01289151e-05 9.99927809e-01 1.66815415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.360281693 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:151.63, Y:27.27, Z:1.67 [[ 9.35816716e-01 -3.52308777e-01 -1.12071285e-02 1.51629560e+02] [ 3.52282145e-01 9.35883814e-01 -4.33315045e-03 2.72660108e+01] [ 1.20151771e-02 1.06963354e-04 9.99927809e-01 1.66721923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.420281693 meters Centerline goodness : 0.998752 with order 1 Centerline is valid? [True, True] Translation: X:151.68, Y:27.29, Z:1.67 [[ 9.35664383e-01 -3.52713158e-01 -1.12067700e-02 1.51683081e+02] [ 3.52686543e-01 9.35731488e-01 -4.33407751e-03 2.72874236e+01] [ 1.20152137e-02 1.02764998e-04 9.99927809e-01 1.66636645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.480281693 meters Centerline goodness : 0.998708 with order 1 Centerline is valid? [True, True] Translation: X:151.74, Y:27.31, Z:1.66 [[ 9.34901094e-01 -3.54731407e-01 -1.12059191e-02 1.51736988e+02] [ 3.54704912e-01 9.34968247e-01 -4.33627648e-03 2.73072068e+01] [ 1.20153919e-02 7.91950973e-05 9.99927809e-01 1.66387464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.540281693 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:151.79, Y:27.33, Z:1.67 [[ 9.33141586e-01 -3.59334403e-01 -1.12056564e-02 1.51790223e+02] [ 3.59308230e-01 9.33208865e-01 -4.33695513e-03 2.73286708e+01] [ 1.20156351e-02 2.07086161e-05 9.99927809e-01 1.66713320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.600281693 meters Centerline goodness : 0.998916 with order 1 Centerline is valid? [True, True] Translation: X:151.85, Y:27.35, Z:1.67 [[ 9.31716663e-01 -3.63013084e-01 -1.12054079e-02 1.51845109e+02] [ 3.62987169e-01 9.31784042e-01 -4.33759694e-03 2.73471160e+01] [ 1.20156247e-02 -2.60079645e-05 9.99927809e-01 1.66839919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.660281693 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:151.90, Y:27.37, Z:1.67 [[ 9.32352010e-01 -3.61378158e-01 -1.12051618e-02 1.51899648e+02] [ 3.61352117e-01 9.32419341e-01 -4.33823279e-03 2.73682479e+01] [ 1.20156521e-02 -4.24886977e-06 9.99927809e-01 1.66725289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.720281693 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:151.95, Y:27.39, Z:1.67 [[ 9.31963008e-01 -3.62380206e-01 -1.12043754e-02 1.51954231e+02] [ 3.62354213e-01 9.32030357e-01 -4.34026286e-03 2.73871032e+01] [ 1.20156433e-02 -1.49881895e-05 9.99927809e-01 1.67055242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.780281693 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:152.01, Y:27.41, Z:1.67 [[ 9.31024862e-01 -3.64783755e-01 -1.12035452e-02 1.52008295e+02] [ 3.64757910e-01 9.31092267e-01 -4.34240480e-03 2.74058738e+01] [ 1.20155730e-02 -4.36948971e-05 9.99927809e-01 1.67184212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.840281693 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:152.06, Y:27.43, Z:1.67 [[ 9.30987767e-01 -3.64878434e-01 -1.12029794e-02 1.52063155e+02] [ 3.64852579e-01 9.31055168e-01 -4.34386384e-03 2.74250858e+01] [ 1.20155742e-02 -4.33518509e-05 9.99927809e-01 1.67136973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.900281693 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:152.12, Y:27.45, Z:1.68 [[ 9.32823325e-01 -3.60159903e-01 -1.12021755e-02 1.52116312e+02] [ 3.60133682e-01 9.32890585e-01 -4.34593621e-03 2.74498872e+01] [ 1.20156360e-02 1.97099675e-05 9.99927809e-01 1.67787962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.960281693 meters Centerline goodness : 0.999325 with order 1 Centerline is valid? [True, True] Translation: X:152.17, Y:27.47, Z:1.68 [[ 9.34157750e-01 -3.56684489e-01 -1.12014729e-02 1.52170590e+02] [ 3.56657996e-01 9.34224904e-01 -4.34774637e-03 2.74713996e+01] [ 1.20154686e-02 6.63860934e-05 9.99927809e-01 1.67993155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.020281693 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:152.22, Y:27.49, Z:1.68 [[ 9.34240180e-01 -3.56468557e-01 -1.12006521e-02 1.52223794e+02] [ 3.56442024e-01 9.34307317e-01 -4.34985987e-03 2.74940486e+01] [ 1.20154395e-02 7.14307789e-05 9.99927809e-01 1.68412495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.080281693 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:152.28, Y:27.52, Z:1.68 [[ 9.34002358e-01 -3.57091246e-01 -1.11998337e-02 1.52276496e+02] [ 3.57064732e-01 9.34069504e-01 -4.35196598e-03 2.75157825e+01] [ 1.20154721e-02 6.56808783e-05 9.99927809e-01 1.67724288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.140281693 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:152.33, Y:27.54, Z:1.68 [[ 9.34942117e-01 -3.54623476e-01 -1.11994807e-02 1.52328622e+02] [ 3.54596774e-01 9.35009187e-01 -4.35287415e-03 2.75383055e+01] [ 1.20152487e-02 9.83856450e-05 9.99927809e-01 1.67843486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.200281693 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:152.38, Y:27.56, Z:1.68 [[ 9.36205515e-01 -3.51274563e-01 -1.11989330e-02 1.52382825e+02] [ 3.51247604e-01 9.36272482e-01 -4.35428286e-03 2.75577482e+01] [ 1.20148016e-02 1.42905244e-04 9.99927809e-01 1.67722328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.260281693 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:152.44, Y:27.58, Z:1.68 [[ 9.37164580e-01 -3.48707832e-01 -1.11981382e-02 1.52436101e+02] [ 3.48680665e-01 9.37231464e-01 -4.35632594e-03 2.75794370e+01] [ 1.20143324e-02 1.78020104e-04 9.99927809e-01 1.67993843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.320281693 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:152.49, Y:27.60, Z:1.68 [[ 9.37007458e-01 -3.49129838e-01 -1.11973059e-02 1.52491529e+02] [ 3.49102675e-01 9.37074344e-01 -4.35846421e-03 2.75972040e+01] [ 1.20143780e-02 1.74904035e-04 9.99927809e-01 1.68055453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.380281693 meters Centerline goodness : 0.998768 with order 1 Centerline is valid? [True, True] Translation: X:152.55, Y:27.62, Z:1.68 [[ 9.38009878e-01 -3.46427636e-01 -1.11964823e-02 1.52546591e+02] [ 3.46400255e-01 9.38076675e-01 -4.36057884e-03 2.76189318e+01] [ 1.20137839e-02 2.11801690e-04 9.99927809e-01 1.67598583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.440281693 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:152.60, Y:27.64, Z:1.68 [[ 9.38427703e-01 -3.45294224e-01 -1.11957671e-02 1.52600604e+02] [ 3.45266741e-01 9.38494458e-01 -4.36241451e-03 2.76404274e+01] [ 1.20134819e-02 2.28284621e-04 9.99927809e-01 1.67630901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.500281693 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:152.66, Y:27.66, Z:1.68 [[ 9.39134903e-01 -3.43366140e-01 -1.11949566e-02 1.52655106e+02] [ 3.43338496e-01 9.39201591e-01 -4.36449323e-03 2.76623313e+01] [ 1.20129403e-02 2.55188356e-04 9.99927809e-01 1.68111829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.560281693 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:152.71, Y:27.68, Z:1.68 [[ 9.38644614e-01 -3.44704190e-01 -1.11942469e-02 1.52709001e+02] [ 3.44676618e-01 9.38711332e-01 -4.36631291e-03 2.76836420e+01] [ 1.20132527e-02 2.40020932e-04 9.99927809e-01 1.68402272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.620281693 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:152.76, Y:27.71, Z:1.68 [[ 9.37923430e-01 -3.46661698e-01 -1.11939962e-02 1.52762430e+02] [ 3.46634259e-01 9.37990203e-01 -4.36695558e-03 2.77061115e+01] [ 1.20137150e-02 2.15647396e-04 9.99927809e-01 1.68481263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.680281693 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:152.82, Y:27.73, Z:1.69 [[ 9.37227889e-01 -3.48537797e-01 -1.11931792e-02 1.52816265e+02] [ 3.48510466e-01 9.37294706e-01 -4.36904847e-03 2.77276039e+01] [ 1.20140862e-02 1.93853967e-04 9.99927809e-01 1.68521862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.740281693 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:152.87, Y:27.75, Z:1.68 [[ 9.36350402e-01 -3.50888380e-01 -1.11923648e-02 1.52871039e+02] [ 3.50861192e-01 9.36417277e-01 -4.37113377e-03 2.77474619e+01] [ 1.20145039e-02 1.65946392e-04 9.99927809e-01 1.68051268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.800281693 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:152.92, Y:27.77, Z:1.69 [[ 9.36783223e-01 -3.49731226e-01 -1.11921132e-02 1.52924231e+02] [ 3.49703947e-01 9.36850061e-01 -4.37177799e-03 2.77706364e+01] [ 1.20142792e-02 1.81482112e-04 9.99927809e-01 1.68570056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.860281693 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:152.98, Y:27.80, Z:1.69 [[ 9.37351897e-01 -3.48204215e-01 -1.11913139e-02 1.52975704e+02] [ 3.48176803e-01 9.37418681e-01 -4.37382306e-03 2.77978005e+01] [ 1.20139304e-02 2.03255436e-04 9.99927809e-01 1.68559540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.920281693 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:153.03, Y:27.82, Z:1.68 [[ 9.37193902e-01 -3.48629263e-01 -1.11904802e-02 1.53027214e+02] [ 3.48601856e-01 9.37260688e-01 -4.37595507e-03 2.78232075e+01] [ 1.20139832e-02 2.00096239e-04 9.99927809e-01 1.68398402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.980281693 meters Centerline goodness : 0.999399 with order 1 Centerline is valid? [True, True] Translation: X:153.08, Y:27.85, Z:1.69 [[ 9.34400387e-01 -3.56048729e-01 -1.11901191e-02 1.53079711e+02] [ 3.56021841e-01 9.34467384e-01 -4.37687826e-03 2.78480182e+01] [ 1.20151833e-02 1.05829929e-04 9.99927809e-01 1.68801446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.040281693 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:153.13, Y:27.87, Z:1.68 [[ 9.31725678e-01 -3.62990441e-01 -1.11892946e-02 1.53134592e+02] [ 3.62964027e-01 9.31792863e-01 -4.37898513e-03 2.78663870e+01] [ 1.20156346e-02 1.87014652e-05 9.99927809e-01 1.68301476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.100281693 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:153.19, Y:27.89, Z:1.68 [[ 9.28551284e-01 -3.71035486e-01 -1.11884695e-02 1.53189091e+02] [ 3.71009629e-01 9.28618684e-01 -4.38109220e-03 2.78863077e+01] [ 1.20153625e-02 -8.29611484e-05 9.99927809e-01 1.67974315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.160281693 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:153.24, Y:27.91, Z:1.68 [[ 9.28202852e-01 -3.71906292e-01 -1.11882142e-02 1.53242626e+02] [ 3.71880490e-01 9.28270274e-01 -4.38174426e-03 2.79059371e+01] [ 1.20152849e-02 -9.35310502e-05 9.99927809e-01 1.68148004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.220281693 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:153.30, Y:27.93, Z:1.68 [[ 9.30154977e-01 -3.66996663e-01 -1.11878651e-02 1.53295455e+02] [ 3.66970495e-01 9.30222258e-01 -4.38263541e-03 2.79303095e+01] [ 1.20156137e-02 -2.90862364e-05 9.99927809e-01 1.68330324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.280281693 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:153.35, Y:27.95, Z:1.68 [[ 9.31164248e-01 -3.64428310e-01 -1.11870354e-02 1.53347567e+02] [ 3.64401931e-01 9.31231446e-01 -4.38475207e-03 2.79541737e+01] [ 1.20156470e-02 6.34704806e-06 9.99927809e-01 1.68249828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.340281693 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:153.40, Y:27.98, Z:1.69 [[ 9.31167883e-01 -3.64419034e-01 -1.11866781e-02 1.53400656e+02] [ 3.64392643e-01 9.31235076e-01 -4.38566349e-03 2.79774988e+01] [ 1.20156463e-02 7.44577204e-06 9.99927809e-01 1.68901453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.400281693 meters Centerline goodness : 0.999468 with order 1 Centerline is valid? [True, True] Translation: X:153.45, Y:28.00, Z:1.69 [[ 9.29680391e-01 -3.68197275e-01 -1.11864333e-02 1.53453797e+02] [ 3.68171150e-01 9.29747689e-01 -4.38628799e-03 2.79991438e+01] [ 1.20155797e-02 -4.06760656e-05 9.99927809e-01 1.68701474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.460281693 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:153.51, Y:28.02, Z:1.69 [[ 9.30485816e-01 -3.66157092e-01 -1.11861934e-02 1.53506934e+02] [ 3.66130812e-01 9.30553053e-01 -4.38689959e-03 2.80236778e+01] [ 1.20156408e-02 -1.36622300e-05 9.99927809e-01 1.69062998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.520281693 meters Centerline goodness : 0.999385 with order 1 Centerline is valid? [True, True] Translation: X:153.56, Y:28.05, Z:1.69 [[ 9.31809035e-01 -3.62776528e-01 -1.11853921e-02 1.53560569e+02] [ 3.62749979e-01 9.31876167e-01 -4.38894180e-03 2.80455820e+01] [ 1.20156054e-02 3.21548855e-05 9.99927809e-01 1.69422960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.580281693 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:153.61, Y:28.07, Z:1.69 [[ 9.33316341e-01 -3.58880916e-01 -1.11845980e-02 1.53612750e+02] [ 3.58854063e-01 9.33383352e-01 -4.39096447e-03 2.80717072e+01] [ 1.20153509e-02 8.45204679e-05 9.99927809e-01 1.69279019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.640281693 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:153.66, Y:28.10, Z:1.69 [[ 9.35703246e-01 -3.52610774e-01 -1.11837934e-02 1.53664185e+02] [ 3.52583447e-01 9.35770065e-01 -4.39301288e-03 2.80973075e+01] [ 1.20144827e-02 1.67335995e-04 9.99927809e-01 1.69342946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.700281693 meters Centerline goodness : 0.999278 with order 1 Centerline is valid? [True, True] Translation: X:153.72, Y:28.12, Z:1.69 [[ 9.35910949e-01 -3.52059123e-01 -1.11834448e-02 1.53715636e+02] [ 3.52031746e-01 9.35977747e-01 -4.39390007e-03 2.81238576e+01] [ 1.20143681e-02 1.75371575e-04 9.99927809e-01 1.69197759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.760281693 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:153.77, Y:28.15, Z:1.70 [[ 9.35425632e-01 -3.53346622e-01 -1.11826577e-02 1.53767560e+02] [ 3.53319314e-01 9.35492458e-01 -4.39590228e-03 2.81503483e+01] [ 1.20145692e-02 1.60990708e-04 9.99927809e-01 1.69601815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.820281693 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:153.82, Y:28.18, Z:1.70 [[ 9.33190458e-01 -3.59208188e-01 -1.11824152e-02 1.53818376e+02] [ 3.59181292e-01 9.33257451e-01 -4.39651918e-03 2.81792062e+01] [ 1.20153380e-02 8.62754187e-05 9.99927809e-01 1.69930339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.880281693 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:153.87, Y:28.20, Z:1.69 [[ 9.30117057e-01 -3.67092948e-01 -1.11816067e-02 1.53872254e+02] [ 3.67066595e-01 9.30184265e-01 -4.39857438e-03 2.82004395e+01] [ 1.20156403e-02 -1.32052546e-05 9.99927810e-01 1.69198700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.940281693 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:153.93, Y:28.22, Z:1.69 [[ 9.28121868e-01 -3.72108554e-01 -1.11813568e-02 1.53926059e+02] [ 3.72082556e-01 9.28189215e-01 -4.39920960e-03 2.82227314e+01] [ 1.20153983e-02 -7.73851959e-05 9.99927810e-01 1.69295413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.000281693 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:153.98, Y:28.24, Z:1.70 [[ 9.25442585e-01 -3.78722877e-01 -1.11805258e-02 1.53981254e+02] [ 3.78697335e-01 9.25510106e-01 -4.40132051e-03 2.82407135e+01] [ 1.20145704e-02 -1.60865903e-04 9.99927810e-01 1.70123991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.060281693 meters Centerline goodness : 0.999426 with order 1 Centerline is valid? [True, True] Translation: X:154.04, Y:28.26, Z:1.70 [[ 9.24176160e-01 -3.81802867e-01 -1.11801418e-02 1.54035931e+02] [ 3.81777539e-01 9.24243761e-01 -4.40229590e-03 2.82589700e+01] [ 1.20139855e-02 -1.99830088e-04 9.99927810e-01 1.70178031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.120281693 meters Centerline goodness : 0.999428 with order 1 Centerline is valid? [True, True] Translation: X:154.09, Y:28.27, Z:1.70 [[ 9.23215631e-01 -3.84119672e-01 -1.11793260e-02 1.54093106e+02] [ 3.84094488e-01 9.23283286e-01 -4.40436654e-03 2.82688152e+01] [ 1.20134887e-02 -2.27737449e-04 9.99927810e-01 1.70150600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.180281693 meters Centerline goodness : 0.999430 with order 1 Centerline is valid? [True, True] Translation: X:154.15, Y:28.29, Z:1.70 [[ 9.22813207e-01 -3.85085464e-01 -1.11789738e-02 1.54150006e+02] [ 3.85060340e-01 9.22880885e-01 -4.40526034e-03 2.82857018e+01] [ 1.20132629e-02 -2.39347020e-04 9.99927810e-01 1.69997672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.240281693 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:154.21, Y:28.30, Z:1.71 [[ 9.25063047e-01 -3.79649056e-01 -1.11782895e-02 1.54207123e+02] [ 3.79623513e-01 9.25130567e-01 -4.40699583e-03 2.82999031e+01] [ 1.20144892e-02 -1.66792560e-04 9.99927810e-01 1.70580797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.300281693 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:154.26, Y:28.32, Z:1.71 [[ 9.27703133e-01 -3.73151388e-01 -1.11775875e-02 1.54261776e+02] [ 3.73125351e-01 9.27770465e-01 -4.40877571e-03 2.83198380e+01] [ 1.20153763e-02 -8.06062260e-05 9.99927810e-01 1.70741845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.360281693 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:154.32, Y:28.34, Z:1.71 [[ 9.28151363e-01 -3.72035115e-01 -1.11767810e-02 1.54316256e+02] [ 3.72008973e-01 9.28218654e-01 -4.41081926e-03 2.83404773e+01] [ 1.20154763e-02 -6.39549313e-05 9.99927810e-01 1.70685346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.420281693 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:154.37, Y:28.36, Z:1.71 [[ 9.28320018e-01 -3.71614103e-01 -1.11759797e-02 1.54371564e+02] [ 3.71587905e-01 9.28387287e-01 -4.41284881e-03 2.83585303e+01] [ 1.20155143e-02 -5.63229910e-05 9.99927810e-01 1.70796993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.480281693 meters Centerline goodness : 0.999336 with order 1 Centerline is valid? [True, True] Translation: X:154.42, Y:28.38, Z:1.71 [[ 9.28384987e-01 -3.71451789e-01 -1.11751537e-02 1.54423442e+02] [ 3.71425555e-01 9.28452242e-01 -4.41493952e-03 2.83832454e+01] [ 1.20155337e-02 -5.19740977e-05 9.99927810e-01 1.70568853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.540281693 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:154.48, Y:28.41, Z:1.70 [[ 9.29360040e-01 -3.69005482e-01 -1.11745928e-02 1.54476473e+02] [ 3.68979053e-01 9.29427218e-01 -4.41635868e-03 2.84087322e+01] [ 1.20156313e-02 -1.88034029e-05 9.99927810e-01 1.70361049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.600281693 meters Centerline goodness : 0.999448 with order 1 Centerline is valid? [True, True] Translation: X:154.53, Y:28.44, Z:1.71 [[ 9.30678655e-01 -3.65667043e-01 -1.11738643e-02 1.54527137e+02] [ 3.65640351e-01 9.30745730e-01 -4.41820119e-03 2.84402452e+01] [ 1.20156170e-02 2.63098841e-05 9.99927810e-01 1.71017953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.660281693 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:154.58, Y:28.47, Z:1.71 [[ 9.31704222e-01 -3.63046007e-01 -1.11731402e-02 1.54577611e+02] [ 3.63019105e-01 9.31771213e-01 -4.42003151e-03 2.84712984e+01] [ 1.20154852e-02 6.20986576e-05 9.99927810e-01 1.70883074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.720281693 meters Centerline goodness : 0.999325 with order 1 Centerline is valid? [True, True] Translation: X:154.63, Y:28.50, Z:1.71 [[ 9.30364043e-01 -3.66466815e-01 -1.11723177e-02 1.54628627e+02] [ 3.66440135e-01 9.30431122e-01 -4.42210972e-03 2.84988372e+01] [ 1.20156285e-02 2.01862902e-05 9.99927810e-01 1.71066287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.780281693 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:154.68, Y:28.53, Z:1.71 [[ 9.28146220e-01 -3.72048087e-01 -1.11720631e-02 1.54678958e+02] [ 3.72021801e-01 9.28213455e-01 -4.42275261e-03 2.85285054e+01] [ 1.20155360e-02 -5.12899443e-05 9.99927810e-01 1.71150629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.840281693 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:154.73, Y:28.56, Z:1.71 [[ 9.27941983e-01 -3.72557217e-01 -1.11712386e-02 1.54730682e+02] [ 3.72530944e-01 9.28009222e-01 -4.42483431e-03 2.85551161e+01] [ 1.20155164e-02 -5.56425415e-05 9.99927810e-01 1.71398015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.900281693 meters Centerline goodness : 0.999468 with order 1 Centerline is valid? [True, True] Translation: X:154.78, Y:28.58, Z:1.72 [[ 9.27898127e-01 -3.72666440e-01 -1.11709843e-02 1.54784539e+02] [ 3.72640167e-01 9.27965366e-01 -4.42547622e-03 2.85775736e+01] [ 1.20155130e-02 -5.63663615e-05 9.99927810e-01 1.71728479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96028169299998 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:154.84, Y:28.60, Z:1.71 [[ 9.27875243e-01 -3.72723436e-01 -1.11701940e-02 1.54838209e+02] [ 3.72697143e-01 9.27942475e-01 -4.42747014e-03 2.85991615e+01] [ 1.20155193e-02 -5.49594411e-05 9.99927810e-01 1.71434785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.020281693 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:154.89, Y:28.62, Z:1.71 [[ 9.27878631e-01 -3.72715009e-01 -1.11699497e-02 1.54891888e+02] [ 3.72688708e-01 9.27945860e-01 -4.42808636e-03 2.86213550e+01] [ 1.20155228e-02 -5.41874008e-05 9.99927810e-01 1.71392692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.080281693 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:154.95, Y:28.64, Z:1.71 [[ 9.27791398e-01 -3.72932128e-01 -1.11691126e-02 1.54946055e+02] [ 3.72905817e-01 9.27858623e-01 -4.43019668e-03 2.86433606e+01] [ 1.20155202e-02 -5.47287115e-05 9.99927810e-01 1.71419285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.140281693 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:155.00, Y:28.66, Z:1.72 [[ 9.28485644e-01 -3.71200321e-01 -1.11682778e-02 1.54998594e+02] [ 3.71173859e-01 9.28552810e-01 -4.43230028e-03 2.86642861e+01] [ 1.20156070e-02 -3.00455860e-05 9.99927810e-01 1.71548072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.200281693 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:155.05, Y:28.69, Z:1.71 [[ 9.29174137e-01 -3.69473545e-01 -1.11679165e-02 1.55051132e+02] [ 3.69446947e-01 9.29241250e-01 -4.43321042e-03 2.86882699e+01] [ 1.20156427e-02 -6.72819537e-06 9.99927810e-01 1.71228280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.260281693 meters Centerline goodness : 0.999597 with order 1 Centerline is valid? [True, True] Translation: X:155.11, Y:28.71, Z:1.71 [[ 9.28746727e-01 -3.70546639e-01 -1.11671374e-02 1.55105186e+02] [ 3.70520096e-01 9.28813861e-01 -4.43517203e-03 2.87129088e+01] [ 1.20156301e-02 -1.84973225e-05 9.99927810e-01 1.70815185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.320281693 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:155.16, Y:28.74, Z:1.71 [[ 9.29172532e-01 -3.69477625e-01 -1.11664808e-02 1.55158334e+02] [ 3.69450985e-01 9.29239627e-01 -4.43682467e-03 2.87383346e+01] [ 1.20156439e-02 -2.89170172e-06 9.99927810e-01 1.71132231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.380281693 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:155.21, Y:28.76, Z:1.72 [[ 9.29289351e-01 -3.69183733e-01 -1.11657473e-02 1.55210651e+02] [ 3.69157049e-01 9.29356429e-01 -4.43866973e-03 2.87635771e+01] [ 1.20156437e-02 2.89417757e-06 9.99927810e-01 1.71526914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.440281693 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:155.26, Y:28.79, Z:1.72 [[ 9.28012466e-01 -3.72381786e-01 -1.11654876e-02 1.55264092e+02] [ 3.72355326e-01 9.28079632e-01 -4.43932298e-03 2.87887675e+01] [ 1.20155846e-02 -3.77817116e-05 9.99927810e-01 1.72041460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.500281693 meters Centerline goodness : 0.999448 with order 1 Centerline is valid? [True, True] Translation: X:155.32, Y:28.81, Z:1.72 [[ 9.27427216e-01 -3.73837007e-01 -1.11647510e-02 1.55316706e+02] [ 3.73810629e-01 9.27494415e-01 -4.44117482e-03 2.88098082e+01] [ 1.20155197e-02 -5.46361821e-05 9.99927810e-01 1.72023513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.560281693 meters Centerline goodness : 0.999382 with order 1 Centerline is valid? [True, True] Translation: X:155.37, Y:28.83, Z:1.72 [[ 9.27749422e-01 -3.73036682e-01 -1.11643891e-02 1.55370664e+02] [ 3.73010236e-01 9.27816594e-01 -4.44208417e-03 2.88337185e+01] [ 1.20155659e-02 -4.32904029e-05 9.99927810e-01 1.71799085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.620281693 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:155.42, Y:28.86, Z:1.72 [[ 9.29467810e-01 -3.68734272e-01 -1.11636831e-02 1.55423379e+02] [ 3.68707493e-01 9.29534850e-01 -4.44385797e-03 2.88569894e+01] [ 1.20156352e-02 1.42893382e-05 9.99927810e-01 1.71771458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.680281693 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:155.48, Y:28.88, Z:1.72 [[ 9.30799649e-01 -3.65359281e-01 -1.11628814e-02 1.55476217e+02] [ 3.65332235e-01 9.30866581e-01 -4.44587087e-03 2.88791412e+01] [ 1.20154934e-02 6.00546379e-05 9.99927810e-01 1.72448751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.740281693 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:155.53, Y:28.90, Z:1.72 [[ 9.32359594e-01 -3.61359913e-01 -1.11624451e-02 1.55530663e+02] [ 3.61332567e-01 9.32426405e-01 -4.44696605e-03 2.88986669e+01] [ 1.20151138e-02 1.12816533e-04 9.99927810e-01 1.72483995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.800281693 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:155.58, Y:28.92, Z:1.73 [[ 9.33148077e-01 -3.59318918e-01 -1.11615995e-02 1.55584916e+02] [ 3.59291400e-01 9.33214817e-01 -4.44908748e-03 2.89176908e+01] [ 1.20148113e-02 1.41390728e-04 9.99927810e-01 1.72688628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.860281693 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:155.64, Y:28.94, Z:1.73 [[ 9.33824110e-01 -3.57558328e-01 -1.11612052e-02 1.55639068e+02] [ 3.57530673e-01 9.33890794e-01 -4.45007642e-03 2.89392605e+01] [ 1.20145086e-02 1.65115455e-04 9.99927810e-01 1.72900201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.920281693 meters Centerline goodness : 0.998851 with order 1 Centerline is valid? [True, True] Translation: X:155.69, Y:28.96, Z:1.73 [[ 9.35097602e-01 -3.54214511e-01 -1.11604012e-02 1.55692868e+02] [ 3.54186594e-01 9.35164176e-01 -4.45209187e-03 2.89625825e+01] [ 1.20138029e-02 2.10275961e-04 9.99927810e-01 1.72646822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.980281693 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:155.75, Y:28.98, Z:1.73 [[ 9.35135016e-01 -3.54115748e-01 -1.11596652e-02 1.55745928e+02] [ 3.54087802e-01 9.35201578e-01 -4.45393592e-03 2.89836509e+01] [ 1.20137453e-02 2.13530127e-04 9.99927810e-01 1.72503983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.040281693 meters Centerline goodness : 0.998890 with order 1 Centerline is valid? [True, True] Translation: X:155.80, Y:29.01, Z:1.73 [[ 9.33544577e-01 -3.58287585e-01 -1.11593020e-02 1.55799287e+02] [ 3.58259924e-01 9.33611258e-01 -4.45484560e-03 2.90070849e+01] [ 1.20145659e-02 1.60866252e-04 9.99927810e-01 1.72688688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.100281693 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:155.85, Y:29.03, Z:1.73 [[ 9.33655461e-01 -3.57998560e-01 -1.11584636e-02 1.55851791e+02] [ 3.57970854e-01 9.33722123e-01 -4.45694478e-03 2.90307921e+01] [ 1.20144841e-02 1.66846098e-04 9.99927810e-01 1.73029428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.160281693 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:155.90, Y:29.06, Z:1.73 [[ 9.34145649e-01 -3.56717537e-01 -1.11582049e-02 1.55904266e+02] [ 3.56689732e-01 9.34212270e-01 -4.45759239e-03 2.90572942e+01] [ 1.20142333e-02 1.84023442e-04 9.99927810e-01 1.72703923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.220281693 meters Centerline goodness : 0.998854 with order 1 Centerline is valid? [True, True] Translation: X:155.96, Y:29.08, Z:1.73 [[ 9.34280252e-01 -3.56364871e-01 -1.11574890e-02 1.55956811e+02] [ 3.56337019e-01 9.34346853e-01 -4.45938359e-03 2.90831739e+01] [ 1.20141324e-02 1.90487665e-04 9.99927810e-01 1.72783336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.280281693 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:156.01, Y:29.11, Z:1.73 [[ 9.34492991e-01 -3.55806660e-01 -1.11566305e-02 1.56009995e+02] [ 3.55778743e-01 9.34559565e-01 -4.46153027e-03 2.91054302e+01] [ 1.20139779e-02 1.99976790e-04 9.99927810e-01 1.72948674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.340281693 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:156.06, Y:29.13, Z:1.73 [[ 9.34250410e-01 -3.56443133e-01 -1.11563649e-02 1.56062911e+02] [ 3.56415253e-01 9.34317000e-01 -4.46219426e-03 2.91290384e+01] [ 1.20140999e-02 1.92508191e-04 9.99927810e-01 1.72884972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.400281693 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:156.12, Y:29.16, Z:1.73 [[ 9.33038801e-01 -3.59602768e-01 -1.11555278e-02 1.56115030e+02] [ 3.59575089e-01 9.33105474e-01 -4.46428606e-03 2.91554206e+01] [ 1.20146537e-02 1.54102203e-04 9.99927810e-01 1.73241605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46028169299998 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:156.17, Y:29.18, Z:1.74 [[ 9.32141572e-01 -3.61922160e-01 -1.11552687e-02 1.56167074e+02] [ 3.61894639e-01 9.32208311e-01 -4.46493332e-03 2.91813600e+01] [ 1.20149925e-02 1.24918011e-04 9.99927810e-01 1.73729177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.520281693 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:156.22, Y:29.21, Z:1.74 [[ 9.32299108e-01 -3.61516171e-01 -1.11548914e-02 1.56218798e+02] [ 3.61488610e-01 9.32365830e-01 -4.46587580e-03 2.92077742e+01] [ 1.20149259e-02 1.31165827e-04 9.99927810e-01 1.73724192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.580281693 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:156.27, Y:29.23, Z:1.74 [[ 9.31325762e-01 -3.64016363e-01 -1.11540329e-02 1.56271086e+02] [ 3.63988955e-01 9.31392547e-01 -4.46801913e-03 2.92324259e+01] [ 1.20152152e-02 1.01236551e-04 9.99927810e-01 1.73718764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.640281693 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:156.32, Y:29.25, Z:1.74 [[ 9.28527014e-01 -3.71097280e-01 -1.11531773e-02 1.56324377e+02] [ 3.71070356e-01 9.28593996e-01 -4.47015375e-03 2.92538413e+01] [ 1.20156354e-02 1.20450336e-05 9.99927810e-01 1.73885511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.700281693 meters Centerline goodness : 0.998787 with order 1 Centerline is valid? [True, True] Translation: X:156.38, Y:29.27, Z:1.74 [[ 9.26854696e-01 -3.75254560e-01 -1.11529136e-02 1.56379382e+02] [ 3.75227929e-01 9.26921795e-01 -4.47081155e-03 2.92712467e+01] [ 1.20155711e-02 -4.10919998e-05 9.99927810e-01 1.73907565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.760281693 meters Centerline goodness : 0.998590 with order 1 Centerline is valid? [True, True] Translation: X:156.43, Y:29.29, Z:1.74 [[ 9.28704720e-01 -3.70652363e-01 -1.11520776e-02 1.56433163e+02] [ 3.70625374e-01 9.28771676e-01 -4.47289607e-03 2.92937196e+01] [ 1.20156233e-02 2.07567852e-05 9.99927810e-01 1.74073559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.820281693 meters Centerline goodness : 0.998806 with order 1 Centerline is valid? [True, True] Translation: X:156.49, Y:29.31, Z:1.74 [[ 9.30448155e-01 -3.66253848e-01 -1.11512261e-02 1.56486500e+02] [ 3.66226517e-01 9.30514972e-01 -4.47501781e-03 2.93141743e+01] [ 1.20153753e-02 7.98973682e-05 9.99927810e-01 1.74118817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.880281693 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:156.54, Y:29.34, Z:1.74 [[ 9.30910306e-01 -3.65077614e-01 -1.11506474e-02 1.56539302e+02] [ 3.65050182e-01 9.30977081e-01 -4.47645936e-03 2.93364106e+01] [ 1.20152523e-02 9.66362999e-05 9.99927810e-01 1.74112135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.940281693 meters Centerline goodness : 0.998834 with order 1 Centerline is valid? [True, True] Translation: X:156.60, Y:29.35, Z:1.74 [[ 9.27285814e-01 -3.74188042e-01 -1.11502886e-02 1.56595501e+02] [ 3.74161255e-01 9.27352850e-01 -4.47735296e-03 2.93549556e+01] [ 1.20156238e-02 -2.02200762e-05 9.99927810e-01 1.73675434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.000281693 meters Centerline goodness : 0.998753 with order 1 Centerline is valid? [True, True] Translation: X:156.65, Y:29.37, Z:1.73 [[ 9.23974690e-01 -3.82291066e-01 -1.11495824e-02 1.56651448e+02] [ 3.82264846e-01 9.24041950e-01 -4.47911080e-03 2.93738782e+01] [ 1.20150059e-02 -1.23508373e-04 9.99927810e-01 1.73313475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.060281693 meters Centerline goodness : 0.998492 with order 1 Centerline is valid? [True, True] Translation: X:156.71, Y:29.39, Z:1.74 [[ 9.19168496e-01 -3.93706717e-01 -1.11488649e-02 1.56707266e+02] [ 3.93681310e-01 9.19236067e-01 -4.48089592e-03 2.93888768e+01] [ 1.20125976e-02 -2.70401382e-04 9.99927810e-01 1.73529127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.120281693 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:156.77, Y:29.40, Z:1.75 [[ 9.16180359e-01 -4.00611109e-01 -1.11484849e-02 1.56765312e+02] [ 4.00586200e-01 9.16248116e-01 -4.48184112e-03 2.94015405e+01] [ 1.20102537e-02 -3.59754414e-04 9.99927810e-01 1.74713764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.180281693 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:156.82, Y:29.42, Z:1.75 [[ 9.15471135e-01 -4.02229197e-01 -1.11477831e-02 1.56821265e+02] [ 4.02204386e-01 9.15538928e-01 -4.48358617e-03 2.94180506e+01] [ 1.20096587e-02 -3.79093536e-04 9.99927810e-01 1.75035331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.240281693 meters Centerline goodness : 0.998754 with order 1 Centerline is valid? [True, True] Translation: X:156.88, Y:29.44, Z:1.75 [[ 9.16783930e-01 -3.99227953e-01 -1.11475358e-02 1.56876246e+02] [ 3.99202913e-01 9.16851638e-01 -4.48420083e-03 2.94366218e+01] [ 1.20108548e-02 -3.39085514e-04 9.99927810e-01 1.75017768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.300281693 meters Centerline goodness : 0.998716 with order 1 Centerline is valid? [True, True] Translation: X:156.93, Y:29.45, Z:1.75 [[ 9.15892916e-01 -4.01267888e-01 -1.11467229e-02 1.56931894e+02] [ 4.01242973e-01 9.15960671e-01 -4.48622078e-03 2.94521057e+01] [ 1.20101361e-02 -3.63646397e-04 9.99927810e-01 1.74794128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.360281693 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:156.99, Y:29.47, Z:1.75 [[ 9.15258259e-01 -4.02713390e-01 -1.11464723e-02 1.56985378e+02] [ 4.02688576e-01 9.15326051e-01 -4.48684321e-03 2.94712465e+01] [ 1.20095683e-02 -3.81936752e-04 9.99927810e-01 1.74955224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.420281693 meters Centerline goodness : 0.998664 with order 1 Centerline is valid? [True, True] Translation: X:157.04, Y:29.49, Z:1.75 [[ 9.16503074e-01 -3.99872328e-01 -1.11461268e-02 1.57039818e+02] [ 3.99847293e-01 9.16570784e-01 -4.48770148e-03 2.94915780e+01] [ 1.20107218e-02 -3.43756404e-04 9.99927810e-01 1.74900177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.480281693 meters Centerline goodness : 0.998520 with order 1 Centerline is valid? [True, True] Translation: X:157.09, Y:29.51, Z:1.75 [[ 9.19982813e-01 -3.91800212e-01 -1.11453386e-02 1.57093550e+02] [ 3.91774558e-01 9.20050291e-01 -4.48965793e-03 2.95134264e+01] [ 1.20133210e-02 -2.36051996e-04 9.99927810e-01 1.75130094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.540281693 meters Centerline goodness : 0.998414 with order 1 Centerline is valid? [True, True] Translation: X:157.15, Y:29.53, Z:1.75 [[ 9.22957914e-01 -3.84739506e-01 -1.11445354e-02 1.57147477e+02] [ 3.84713312e-01 9.23025185e-01 -4.49165098e-03 2.95338150e+01] [ 1.20148024e-02 -1.41846295e-04 9.99927810e-01 1.74606976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.600281693 meters Centerline goodness : 0.998325 with order 1 Centerline is valid? [True, True] Translation: X:157.20, Y:29.55, Z:1.75 [[ 9.22967999e-01 -3.84715325e-01 -1.11441635e-02 1.57202615e+02] [ 3.84689118e-01 9.23035264e-01 -4.49257343e-03 2.95526142e+01] [ 1.20148178e-02 -1.40536926e-04 9.99927810e-01 1.74521256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.660281693 meters Centerline goodness : 0.998282 with order 1 Centerline is valid? [True, True] Translation: X:157.26, Y:29.57, Z:1.75 [[ 9.22245797e-01 -3.86443417e-01 -1.11433636e-02 1.57258242e+02] [ 3.86417312e-01 9.22313103e-01 -4.49455674e-03 2.95680898e+01] [ 1.20145621e-02 -1.60902539e-04 9.99927810e-01 1.74705203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.720281693 meters Centerline goodness : 0.998378 with order 1 Centerline is valid? [True, True] Translation: X:157.31, Y:29.58, Z:1.75 [[ 9.20564229e-01 -3.90432236e-01 -1.11431161e-02 1.57313624e+02] [ 3.90406416e-01 9.20631644e-01 -4.49517012e-03 2.95849228e+01] [ 1.20137646e-02 -2.12251210e-04 9.99927810e-01 1.75004485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.780281693 meters Centerline goodness : 0.998313 with order 1 Centerline is valid? [True, True] Translation: X:157.37, Y:29.60, Z:1.75 [[ 9.19095500e-01 -3.93877278e-01 -1.11423281e-02 1.57369184e+02] [ 3.93851687e-01 9.19163002e-01 -4.49712247e-03 2.96003811e+01] [ 1.20129301e-02 -2.55139709e-04 9.99927810e-01 1.75397177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.840281693 meters Centerline goodness : 0.998388 with order 1 Centerline is valid? [True, True] Translation: X:157.43, Y:29.62, Z:1.76 [[ 9.17805040e-01 -3.96875001e-01 -1.11418993e-02 1.57425293e+02] [ 3.96849617e-01 9.17872621e-01 -4.49818472e-03 2.96175308e+01] [ 1.20120614e-02 -2.93201857e-04 9.99927810e-01 1.75688670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.900281693 meters Centerline goodness : 0.998589 with order 1 Centerline is valid? [True, True] Translation: X:157.48, Y:29.63, Z:1.75 [[ 9.16266608e-01 -4.00414005e-01 -1.11412291e-02 1.57482564e+02] [ 4.00388863e-01 9.16334279e-01 -4.49984394e-03 2.96326408e+01] [ 1.20108907e-02 -3.37767316e-04 9.99927810e-01 1.75301487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96028169299998 meters Centerline goodness : 0.998452 with order 1 Centerline is valid? [True, True] Translation: X:157.54, Y:29.65, Z:1.76 [[ 9.16051674e-01 -4.00905498e-01 -1.11405626e-02 1.57539369e+02] [ 4.00880372e-01 9.16119350e-01 -4.50149346e-03 2.96460715e+01] [ 1.20107585e-02 -3.42432269e-04 9.99927810e-01 1.75552429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.020281693 meters Centerline goodness : 0.998779 with order 1 Centerline is valid? [True, True] Translation: X:157.59, Y:29.66, Z:1.76 [[ 9.16682979e-01 -3.99459914e-01 -1.11397341e-02 1.57594355e+02] [ 3.99434656e-01 9.16750606e-01 -4.50354276e-03 2.96637578e+01] [ 1.20113428e-02 -3.21274883e-04 9.99927810e-01 1.75772645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.080281693 meters Centerline goodness : 0.998618 with order 1 Centerline is valid? [True, True] Translation: X:157.65, Y:29.68, Z:1.76 [[ 9.18334651e-01 -3.95648056e-01 -1.11393496e-02 1.57649701e+02] [ 3.95622505e-01 9.18402168e-01 -4.50449375e-03 2.96802663e+01] [ 1.20125970e-02 -2.70344696e-04 9.99927810e-01 1.75850393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.140281693 meters Centerline goodness : 0.998560 with order 1 Centerline is valid? [True, True] Translation: X:157.70, Y:29.70, Z:1.76 [[ 9.19046352e-01 -3.93992050e-01 -1.11385332e-02 1.57704315e+02] [ 3.93966353e-01 9.19113815e-01 -4.50651157e-03 2.97011792e+01] [ 1.20131095e-02 -2.46514280e-04 9.99927810e-01 1.75581494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.200281693 meters Centerline goodness : 0.998707 with order 1 Centerline is valid? [True, True] Translation: X:157.76, Y:29.72, Z:1.76 [[ 9.22102098e-01 -3.86786335e-01 -1.11378178e-02 1.57759101e+02] [ 3.86760090e-01 9.22169349e-01 -4.50827897e-03 2.97196850e+01] [ 1.20146949e-02 -1.50569923e-04 9.99927810e-01 1.75786642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.260281693 meters Centerline goodness : 0.998412 with order 1 Centerline is valid? [True, True] Translation: X:157.81, Y:29.74, Z:1.76 [[ 9.24265800e-01 -3.81587062e-01 -1.11375648e-02 1.57813798e+02] [ 3.81560431e-01 9.24332899e-01 -4.50890394e-03 2.97399927e+01] [ 1.20153570e-02 -8.22283133e-05 9.99927810e-01 1.76043750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.320281693 meters Centerline goodness : 0.998686 with order 1 Centerline is valid? [True, True] Translation: X:157.87, Y:29.76, Z:1.76 [[ 9.26058661e-01 -3.77215229e-01 -1.11367637e-02 1.57868778e+02] [ 3.77188257e-01 9.26125623e-01 -4.51088178e-03 2.97599281e+01] [ 1.20156155e-02 -2.33153439e-05 9.99927810e-01 1.76044748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.380281693 meters Centerline goodness : 0.998652 with order 1 Centerline is valid? [True, True] Translation: X:157.92, Y:29.78, Z:1.76 [[ 9.27088351e-01 -3.74677433e-01 -1.11359588e-02 1.57920958e+02] [ 3.74650254e-01 9.27155230e-01 -4.51286790e-03 2.97823099e+01] [ 1.20156322e-02 1.17374662e-05 9.99927810e-01 1.76160547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.440281693 meters Centerline goodness : 0.998450 with order 1 Centerline is valid? [True, True] Translation: X:157.98, Y:29.80, Z:1.76 [[ 9.27239641e-01 -3.74302887e-01 -1.11354101e-02 1.57975255e+02] [ 3.74275665e-01 9.27306502e-01 -4.51422132e-03 2.98035198e+01] [ 1.20156243e-02 1.80519247e-05 9.99927810e-01 1.76023007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.500281693 meters Centerline goodness : 0.998759 with order 1 Centerline is valid? [True, True] Translation: X:158.03, Y:29.83, Z:1.76 [[ 9.26823543e-01 -3.75332023e-01 -1.11351629e-02 1.58028267e+02] [ 3.75304868e-01 9.26890432e-01 -4.51483119e-03 2.98272264e+01] [ 1.20156366e-02 5.37101711e-06 9.99927810e-01 1.76284909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.560281693 meters Centerline goodness : 0.998762 with order 1 Centerline is valid? [True, True] Translation: X:158.08, Y:29.85, Z:1.77 [[ 9.25109934e-01 -3.79536082e-01 -1.11343338e-02 1.58082207e+02] [ 3.79509206e-01 9.25176935e-01 -4.51687477e-03 2.98497516e+01] [ 1.20155458e-02 -4.69764778e-05 9.99927810e-01 1.76801695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.620281693 meters Centerline goodness : 0.998676 with order 1 Centerline is valid? [True, True] Translation: X:158.14, Y:29.87, Z:1.77 [[ 9.22943672e-01 -3.84773986e-01 -1.11336080e-02 1.58136221e+02] [ 3.84747469e-01 9.23010816e-01 -4.51866318e-03 2.98713840e+01] [ 1.20151047e-02 -1.13155909e-04 9.99927810e-01 1.77008466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.680281693 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:158.19, Y:29.89, Z:1.77 [[ 9.22148630e-01 -3.86675530e-01 -1.11327456e-02 1.58190075e+02] [ 3.86649125e-01 9.22215819e-01 -4.52078683e-03 2.98921664e+01] [ 1.20148718e-02 -1.35628975e-04 9.99927810e-01 1.77156630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.740281693 meters Centerline goodness : 0.998519 with order 1 Centerline is valid? [True, True] Translation: X:158.24, Y:29.91, Z:1.77 [[ 9.20846103e-01 -3.89767284e-01 -1.11318776e-02 1.58244579e+02] [ 3.89741080e-01 9.20913369e-01 -4.52292323e-03 2.99129980e+01] [ 1.20143824e-02 -1.73633766e-04 9.99927810e-01 1.76825577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.800281693 meters Centerline goodness : 0.998725 with order 1 Centerline is valid? [True, True] Translation: X:158.30, Y:29.93, Z:1.77 [[ 9.20688454e-01 -3.90139536e-01 -1.11316108e-02 1.58298490e+02] [ 3.90113350e-01 9.20755728e-01 -4.52357977e-03 2.99330096e+01] [ 1.20143217e-02 -1.77782316e-04 9.99927810e-01 1.76778775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.860281693 meters Centerline goodness : 0.998723 with order 1 Centerline is valid? [True, True] Translation: X:158.35, Y:29.95, Z:1.77 [[ 9.21203715e-01 -3.88921339e-01 -1.11313524e-02 1.58352489e+02] [ 3.88895057e-01 9.21270951e-01 -4.52421550e-03 2.99535176e+01] [ 1.20145556e-02 -1.61203807e-04 9.99927810e-01 1.77109887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.920281693 meters Centerline goodness : 0.998669 with order 1 Centerline is valid? [True, True] Translation: X:158.41, Y:29.97, Z:1.77 [[ 9.23134605e-01 -3.84315773e-01 -1.11305018e-02 1.58406908e+02] [ 3.84289131e-01 9.23201699e-01 -4.52630720e-03 2.99739614e+01] [ 1.20152294e-02 -9.89400601e-05 9.99927810e-01 1.77257481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.980281693 meters Centerline goodness : 0.998845 with order 1 Centerline is valid? [True, True] Translation: X:158.46, Y:30.00, Z:1.77 [[ 9.26239815e-01 -3.76770403e-01 -1.11296512e-02 1.58461930e+02] [ 3.76743188e-01 9.26306679e-01 -4.52839789e-03 2.99953943e+01] [ 1.20156365e-02 1.36215978e-06 9.99927810e-01 1.77066110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.040281693 meters Centerline goodness : 0.998586 with order 1 Centerline is valid? [True, True] Translation: X:158.52, Y:30.01, Z:1.77 [[ 9.27410110e-01 -3.73880510e-01 -1.11289103e-02 1.58516142e+02] [ 3.73853066e-01 9.27476880e-01 -4.53021798e-03 3.00149071e+01] [ 1.20155672e-02 4.07927336e-05 9.99927810e-01 1.77033827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.100281693 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:158.57, Y:30.04, Z:1.77 [[ 9.29106310e-01 -3.69645278e-01 -1.11280657e-02 1.58569351e+02] [ 3.69617504e-01 9.29172943e-01 -4.53229163e-03 3.00350456e+01] [ 1.20152378e-02 9.78528844e-05 9.99927810e-01 1.77174904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.160281693 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:158.62, Y:30.06, Z:1.77 [[ 9.31511877e-01 -3.63540642e-01 -1.11277000e-02 1.58623262e+02] [ 3.63512420e-01 9.31578322e-01 -4.53318922e-03 3.00564837e+01] [ 1.20143226e-02 1.77662422e-04 9.99927810e-01 1.77159434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.220281693 meters Centerline goodness : 0.998595 with order 1 Centerline is valid? [True, True] Translation: X:158.68, Y:30.08, Z:1.77 [[ 9.33739936e-01 -3.57779156e-01 -1.11268742e-02 1.58677889e+02] [ 3.57750501e-01 9.33806196e-01 -4.53521545e-03 3.00793668e+01] [ 1.20129496e-02 2.54066974e-04 9.99927810e-01 1.77181386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.280281693 meters Centerline goodness : 0.998666 with order 1 Centerline is valid? [True, True] Translation: X:158.73, Y:30.10, Z:1.77 [[ 9.35393986e-01 -3.53432173e-01 -1.11261288e-02 1.58730538e+02] [ 3.53403188e-01 9.35460102e-01 -4.53704324e-03 3.01039173e+01] [ 1.20115866e-02 3.11913564e-04 9.99927810e-01 1.77365862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.340281693 meters Centerline goodness : 0.998628 with order 1 Centerline is valid? [True, True] Translation: X:158.78, Y:30.14, Z:1.78 [[ 9.38216627e-01 -3.45869593e-01 -1.11258656e-02 1.58781027e+02] [ 3.45840068e-01 9.38282504e-01 -4.53768858e-03 3.01365005e+01] [ 1.20086536e-02 4.09564751e-04 9.99927810e-01 1.77786615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.400281693 meters Centerline goodness : 0.998894 with order 1 Centerline is valid? [True, True] Translation: X:158.83, Y:30.17, Z:1.78 [[ 9.39156856e-01 -3.43308362e-01 -1.11251526e-02 1.58831104e+02] [ 3.43278637e-01 9.39222642e-01 -4.53943606e-03 3.01661268e+01] [ 1.20074216e-02 4.44215277e-04 9.99927810e-01 1.78116592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46028169299998 meters Centerline goodness : 0.998894 with order 1 Centerline is valid? [True, True] Translation: X:158.88, Y:30.20, Z:1.79 [[ 9.37337881e-01 -3.48244089e-01 -1.11243170e-02 1.58881207e+02] [ 3.48214686e-01 9.37403812e-01 -4.54148285e-03 3.01978187e+01] [ 1.20095217e-02 3.83253366e-04 9.99927810e-01 1.78704929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.520281693 meters Centerline goodness : 0.999174 with order 1 Centerline is valid? [True, True] Translation: X:158.93, Y:30.22, Z:1.79 [[ 9.35347823e-01 -3.53554402e-01 -1.11235802e-02 1.58932486e+02] [ 3.53525352e-01 9.35413911e-01 -4.54328678e-03 3.02220715e+01] [ 1.20114507e-02 3.17085794e-04 9.99927810e-01 1.78542487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.580281693 meters Centerline goodness : 0.998855 with order 1 Centerline is valid? [True, True] Translation: X:158.98, Y:30.25, Z:1.78 [[ 9.33051971e-01 -3.59569601e-01 -1.11230058e-02 1.58984160e+02] [ 3.59540961e-01 9.33118237e-01 -4.54469263e-03 3.02503567e+01] [ 1.20132129e-02 2.41258232e-04 9.99927810e-01 1.77866661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.640281693 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:159.04, Y:30.27, Z:1.78 [[ 9.31443230e-01 -3.63716652e-01 -1.11222881e-02 1.59038716e+02] [ 3.63688286e-01 9.31509614e-01 -4.54644844e-03 3.02717643e+01] [ 1.20141373e-02 1.89712745e-04 9.99927810e-01 1.78047181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.700281693 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:159.09, Y:30.29, Z:1.78 [[ 9.28622473e-01 -3.70859292e-01 -1.11215689e-02 1.59093817e+02] [ 3.70831414e-01 9.28689063e-01 -4.54820692e-03 3.02921891e+01] [ 1.20152242e-02 9.93400152e-05 9.99927810e-01 1.78210688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.760281693 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:159.15, Y:30.31, Z:1.78 [[ 9.28337444e-01 -3.71572223e-01 -1.11208428e-02 1.59147935e+02] [ 3.71544375e-01 9.28404047e-01 -4.54998161e-03 3.03114230e+01] [ 1.20152823e-02 9.20316909e-05 9.99927810e-01 1.78476555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.820281693 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:159.20, Y:30.33, Z:1.79 [[ 9.29757240e-01 -3.68005174e-01 -1.11205849e-02 1.59201251e+02] [ 3.67977064e-01 9.29823732e-01 -4.55061194e-03 3.03340234e+01] [ 1.20148325e-02 1.38844219e-04 9.99927810e-01 1.78538734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.880281693 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:159.26, Y:30.35, Z:1.79 [[ 9.30291358e-01 -3.66652888e-01 -1.11197622e-02 1.59256430e+02] [ 3.66624657e-01 9.30357799e-01 -4.55262147e-03 3.03549465e+01] [ 1.20145893e-02 1.58485422e-04 9.99927810e-01 1.79235515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.940281693 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:159.31, Y:30.38, Z:1.79 [[ 9.32328651e-01 -3.61441080e-01 -1.11190046e-02 1.59308565e+02] [ 3.61412456e-01 9.32394924e-01 -4.55447103e-03 3.03773116e+01] [ 1.20134763e-02 2.27717087e-04 9.99927810e-01 1.79277792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.000281693 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:159.36, Y:30.40, Z:1.79 [[ 9.33720716e-01 -3.57829568e-01 -1.11186318e-02 1.59361460e+02] [ 3.57800676e-01 9.33786873e-01 -4.55538094e-03 3.04009246e+01] [ 1.20124824e-02 2.75199596e-04 9.99927810e-01 1.79012117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.060281693 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:159.41, Y:30.43, Z:1.79 [[ 9.35106169e-01 -3.54193215e-01 -1.11183768e-02 1.59412460e+02] [ 3.54164059e-01 9.35172210e-01 -4.55600324e-03 3.04303592e+01] [ 1.20113024e-02 3.22617289e-04 9.99927810e-01 1.79149866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.120281693 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:159.46, Y:30.45, Z:1.79 [[ 9.34524696e-01 -3.55724602e-01 -1.11175837e-02 1.59464676e+02] [ 3.55695531e-01 9.34590774e-01 -4.55793757e-03 3.04548643e+01] [ 1.20117617e-02 3.05030372e-04 9.99927810e-01 1.79202361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.180281693 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:159.52, Y:30.48, Z:1.79 [[ 9.32558380e-01 -3.60848008e-01 -1.11167979e-02 1.59515320e+02] [ 3.60819277e-01 9.32624607e-01 -4.55985339e-03 3.04811036e+01] [ 1.20132133e-02 2.41174503e-04 9.99927810e-01 1.79363888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.240281693 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:159.57, Y:30.50, Z:1.79 [[ 9.29718313e-01 -3.68103637e-01 -1.11162636e-02 1.59568376e+02] [ 3.68075408e-01 9.29784755e-01 -4.56115551e-03 3.05041012e+01] [ 1.20147104e-02 1.48966539e-04 9.99927810e-01 1.79387657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.300281693 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:159.62, Y:30.53, Z:1.79 [[ 9.28695145e-01 -3.70677454e-01 -1.11154367e-02 1.59620777e+02] [ 3.70649385e-01 9.28761655e-01 -4.56316979e-03 3.05291405e+01] [ 1.20150556e-02 1.17863849e-04 9.99927810e-01 1.79240929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.360281693 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:159.67, Y:30.56, Z:1.78 [[ 9.28404876e-01 -3.71403876e-01 -1.11151808e-02 1.59673494e+02] [ 3.71375851e-01 9.28471405e-01 -4.56379297e-03 3.05552859e+01] [ 1.20151380e-02 1.09137900e-04 9.99927810e-01 1.78465351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.420281693 meters Centerline goodness : 0.999322 with order 1 Centerline is valid? [True, True] Translation: X:159.73, Y:30.58, Z:1.79 [[ 9.27986680e-01 -3.72447567e-01 -1.11145106e-02 1.59727916e+02] [ 3.72419598e-01 9.28053231e-01 -4.56542457e-03 3.05777690e+01] [ 1.20152388e-02 9.73916053e-05 9.99927810e-01 1.79451221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.480281693 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:159.78, Y:30.60, Z:1.80 [[ 9.27365114e-01 -3.73992552e-01 -1.11137865e-02 1.59781996e+02] [ 3.73964672e-01 9.27431704e-01 -4.56718663e-03 3.05984322e+01] [ 1.20153718e-02 7.92860134e-05 9.99927810e-01 1.79887466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.540281693 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:159.84, Y:30.62, Z:1.80 [[ 9.26369058e-01 -3.76453000e-01 -1.11134026e-02 1.59836368e+02] [ 3.76425286e-01 9.26435716e-01 -4.56812078e-03 3.06174180e+01] [ 1.20155358e-02 4.84000077e-05 9.99927810e-01 1.79786914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.600281693 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:159.89, Y:30.63, Z:1.80 [[ 9.25059419e-01 -3.79659823e-01 -1.11126136e-02 1.59892330e+02] [ 3.79632317e-01 9.25126164e-01 -4.57003932e-03 3.06349537e+01] [ 1.20156299e-02 8.85068264e-06 9.99927810e-01 1.79855957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.660281693 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:159.95, Y:30.65, Z:1.80 [[ 9.25558836e-01 -3.78440707e-01 -1.11117769e-02 1.59948003e+02] [ 3.78413089e-01 9.25625535e-01 -4.57207276e-03 3.06518962e+01] [ 1.20156029e-02 2.68805319e-05 9.99927810e-01 1.80120322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.720281693 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:160.00, Y:30.67, Z:1.80 [[ 9.26323291e-01 -3.76565675e-01 -1.11109217e-02 1.60003301e+02] [ 3.76537897e-01 9.26389923e-01 -4.57414993e-03 3.06695102e+01] [ 1.20155138e-02 5.34585141e-05 9.99927810e-01 1.80285031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.780281693 meters Centerline goodness : 0.998703 with order 1 Centerline is valid? [True, True] Translation: X:160.06, Y:30.69, Z:1.80 [[ 9.26412465e-01 -3.76346247e-01 -1.11106586e-02 1.60058728e+02] [ 3.76318446e-01 9.26479087e-01 -4.57478894e-03 3.06873484e+01] [ 1.20154975e-02 5.69957127e-05 9.99927810e-01 1.80498661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.840281693 meters Centerline goodness : 0.998853 with order 1 Centerline is valid? [True, True] Translation: X:160.11, Y:30.70, Z:1.80 [[ 9.25591453e-01 -3.78360984e-01 -1.11097981e-02 1.60114596e+02] [ 3.78333302e-01 9.25658125e-01 -4.57687777e-03 3.07005860e+01] [ 1.20155869e-02 3.31123508e-05 9.99927810e-01 1.80289057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.900281693 meters Centerline goodness : 0.998769 with order 1 Centerline is valid? [True, True] Translation: X:160.17, Y:30.72, Z:1.81 [[ 9.25762733e-01 -3.77941725e-01 -1.11092138e-02 1.60170346e+02] [ 3.77913996e-01 9.25829385e-01 -4.57829546e-03 3.07178867e+01] [ 1.20155655e-02 4.00879191e-05 9.99927810e-01 1.80514103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96028169299998 meters Centerline goodness : 0.998539 with order 1 Centerline is valid? [True, True] Translation: X:160.23, Y:30.73, Z:1.81 [[ 9.27750520e-01 -3.73035625e-01 -1.11083420e-02 1.60226321e+02] [ 3.73007518e-01 9.27817014e-01 -4.58040990e-03 3.07340642e+01] [ 1.20151648e-02 1.05982588e-04 9.99927810e-01 1.80599704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.020281693 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:160.28, Y:30.75, Z:1.80 [[ 9.27692947e-01 -3.73178806e-01 -1.11074389e-02 1.60282542e+02] [ 3.73150683e-01 9.27759434e-01 -4.58259887e-03 3.07480308e+01] [ 1.20151600e-02 1.06496240e-04 9.99927810e-01 1.80464418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.080281693 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:160.34, Y:30.77, Z:1.80 [[ 9.27350974e-01 -3.74027813e-01 -1.11070497e-02 1.60339235e+02] [ 3.73999740e-01 9.27417482e-01 -4.58354205e-03 3.07652907e+01] [ 1.20152442e-02 9.65185002e-05 9.99927810e-01 1.80065986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.140281693 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:160.39, Y:30.78, Z:1.80 [[ 9.28065025e-01 -3.72252548e-01 -1.11062942e-02 1.60394813e+02] [ 3.72224326e-01 9.28131470e-01 -4.58537178e-03 3.07839376e+01] [ 1.20150175e-02 1.21490294e-04 9.99927810e-01 1.79859635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.200281693 meters Centerline goodness : 0.998902 with order 1 Centerline is valid? [True, True] Translation: X:160.45, Y:30.80, Z:1.81 [[ 9.30641116e-01 -3.65764650e-01 -1.11055467e-02 1.60449366e+02] [ 3.65735943e-01 9.30707353e-01 -4.58718159e-03 3.08024975e+01] [ 1.20138428e-02 2.07322200e-04 9.99927810e-01 1.80526063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.260281693 meters Centerline goodness : 0.998806 with order 1 Centerline is valid? [True, True] Translation: X:160.50, Y:30.83, Z:1.81 [[ 9.33899032e-01 -3.57364343e-01 -1.11051525e-02 1.60503978e+02] [ 3.57335029e-01 9.33965003e-01 -4.58813574e-03 3.08251381e+01] [ 1.20114599e-02 3.16595544e-04 9.99927810e-01 1.81127567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.320281693 meters Centerline goodness : 0.998854 with order 1 Centerline is valid? [True, True] Translation: X:160.56, Y:30.85, Z:1.81 [[ 9.38324621e-01 -3.45577194e-01 -1.11044240e-02 1.60555444e+02] [ 3.45547031e-01 9.38390208e-01 -4.58989809e-03 3.08530853e+01] [ 1.20064469e-02 4.69713630e-04 9.99927810e-01 1.80957505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.380281693 meters Centerline goodness : 0.998705 with order 1 Centerline is valid? [True, True] Translation: X:160.61, Y:30.89, Z:1.81 [[ 9.40133785e-01 -3.40624686e-01 -1.11035978e-02 1.60606293e+02] [ 3.40594154e-01 9.40199201e-01 -4.59189607e-03 3.08850608e+01] [ 1.20037069e-02 5.35176151e-04 9.99927810e-01 1.80619725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.440281693 meters Centerline goodness : 0.998770 with order 1 Centerline is valid? [True, True] Translation: X:160.66, Y:30.92, Z:1.81 [[ 9.40318351e-01 -3.40114872e-01 -1.11028668e-02 1.60656645e+02] [ 3.40084283e-01 9.40383740e-01 -4.59366277e-03 3.09178167e+01] [ 1.20033284e-02 5.43594895e-04 9.99927810e-01 1.81331700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.500281693 meters Centerline goodness : 0.998552 with order 1 Centerline is valid? [True, True] Translation: X:160.71, Y:30.95, Z:1.82 [[ 9.39479644e-01 -3.42424798e-01 -1.11021242e-02 1.60707186e+02] [ 3.42394349e-01 9.39545098e-01 -4.59545687e-03 3.09472162e+01] [ 1.20045447e-02 5.16033598e-04 9.99927810e-01 1.81874038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.560281693 meters Centerline goodness : 0.998575 with order 1 Centerline is valid? [True, True] Translation: X:160.75, Y:30.98, Z:1.81 [[ 9.37816797e-01 -3.46953048e-01 -1.11012684e-02 1.60754132e+02] [ 3.46922890e-01 9.37882386e-01 -4.59752335e-03 3.09845821e+01] [ 1.20068088e-02 4.60350517e-04 9.99927810e-01 1.81376221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.620281693 meters Centerline goodness : 0.998717 with order 1 Centerline is valid? [True, True] Translation: X:160.80, Y:31.01, Z:1.81 [[ 9.35452491e-01 -3.53278102e-01 -1.11004207e-02 1.60804479e+02] [ 3.53248364e-01 9.35518272e-01 -4.59956901e-03 3.10144023e+01] [ 1.20095734e-02 3.81472828e-04 9.99927810e-01 1.81172461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.680281693 meters Centerline goodness : 0.998784 with order 1 Centerline is valid? [True, True] Translation: X:160.85, Y:31.05, Z:1.82 [[ 9.34322157e-01 -3.56256799e-01 -1.10995549e-02 1.60852442e+02] [ 3.56227246e-01 9.34388021e-01 -4.60165745e-03 3.10496900e+01] [ 1.20106629e-02 3.45466646e-04 9.99927810e-01 1.81964342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.740281693 meters Centerline goodness : 0.998753 with order 1 Centerline is valid? [True, True] Translation: X:160.90, Y:31.08, Z:1.82 [[ 9.34307189e-01 -3.56296059e-01 -1.10992866e-02 1.60901891e+02] [ 3.56266502e-01 9.34373051e-01 -4.60230451e-03 3.10781216e+01] [ 1.20106572e-02 3.45662187e-04 9.99927810e-01 1.81799034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.800281693 meters Centerline goodness : 0.998687 with order 1 Centerline is valid? [True, True] Translation: X:160.95, Y:31.11, Z:1.82 [[ 9.32060245e-01 -3.62133281e-01 -1.10989153e-02 1.60952908e+02] [ 3.62104126e-01 9.32126286e-01 -4.60319972e-03 3.11065805e+01] [ 1.20125625e-02 2.71496432e-04 9.99927810e-01 1.81738322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.860281693 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:161.01, Y:31.13, Z:1.82 [[ 9.30077999e-01 -3.67194430e-01 -1.10980544e-02 1.61005928e+02] [ 3.67165609e-01 9.30144186e-01 -4.60527449e-03 3.11306884e+01] [ 1.20138219e-02 2.08440587e-04 9.99927810e-01 1.81568741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.920281693 meters Centerline goodness : 0.998930 with order 1 Centerline is valid? [True, True] Translation: X:161.06, Y:31.16, Z:1.82 [[ 9.28244952e-01 -3.71803929e-01 -1.10971815e-02 1.61057332e+02] [ 3.71775411e-01 9.28311271e-01 -4.60737690e-03 3.11553485e+01] [ 1.20146795e-02 1.51115141e-04 9.99927810e-01 1.81929894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.980281693 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:161.11, Y:31.18, Z:1.82 [[ 9.27454794e-01 -3.73770607e-01 -1.10968029e-02 1.61109684e+02] [ 3.73742219e-01 9.27521168e-01 -4.60828853e-03 3.11777666e+01] [ 1.20149624e-02 1.26635551e-04 9.99927810e-01 1.82290509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.040281693 meters Centerline goodness : 0.998980 with order 1 Centerline is valid? [True, True] Translation: X:161.16, Y:31.20, Z:1.82 [[ 9.26079951e-01 -3.77164146e-01 -1.10964295e-02 1.61164824e+02] [ 3.77135991e-01 9.26146425e-01 -4.60918749e-03 3.11971508e+01] [ 1.20153388e-02 8.36132007e-05 9.99927810e-01 1.82371373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.100281693 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:161.22, Y:31.21, Z:1.82 [[ 9.22575526e-01 -3.85656954e-01 -1.10955852e-02 1.61221209e+02] [ 3.85629386e-01 9.22642245e-01 -4.61121895e-03 3.12126099e+01] [ 1.20156043e-02 -2.45859779e-05 9.99927810e-01 1.82164808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.160281693 meters Centerline goodness : 0.998814 with order 1 Centerline is valid? [True, True] Translation: X:161.28, Y:31.23, Z:1.82 [[ 9.20123040e-01 -3.91472220e-01 -1.10947304e-02 1.61277967e+02] [ 3.91445049e-01 9.20189921e-01 -4.61327474e-03 3.12254013e+01] [ 1.20152280e-02 -9.81969069e-05 9.99927810e-01 1.82159531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.220281693 meters Centerline goodness : 0.998889 with order 1 Centerline is valid? [True, True] Translation: X:161.33, Y:31.24, Z:1.82 [[ 9.20675821e-01 -3.90170408e-01 -1.10943622e-02 1.61333795e+02] [ 3.90143131e-01 9.20742660e-01 -4.61415999e-03 3.12420176e+01] [ 1.20153613e-02 -8.02436843e-05 9.99927810e-01 1.81768774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.280281693 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:161.39, Y:31.26, Z:1.82 [[ 9.23933173e-01 -3.82393025e-01 -1.10935216e-02 1.61390253e+02] [ 3.82365162e-01 9.23999769e-01 -4.61618015e-03 3.12554501e+01] [ 1.20156065e-02 2.32657751e-05 9.99927810e-01 1.81956744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.340281693 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:161.45, Y:31.27, Z:1.82 [[ 9.27670730e-01 -3.73234455e-01 -1.10931571e-02 1.61446335e+02] [ 3.73205924e-01 9.27737043e-01 -4.61705587e-03 3.12717050e+01] [ 1.20147771e-02 1.43075628e-04 9.99927810e-01 1.82412001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.400281693 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:161.50, Y:31.29, Z:1.83 [[ 9.29909030e-01 -3.67622301e-01 -1.10923251e-02 1.61500755e+02] [ 3.67593346e-01 9.29975159e-01 -4.61905386e-03 3.12911112e+01] [ 1.20136540e-02 2.17834983e-04 9.99927810e-01 1.82609794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46028169299998 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:161.55, Y:31.31, Z:1.83 [[ 9.32683766e-01 -3.60524579e-01 -1.10914546e-02 1.61554328e+02] [ 3.60495096e-01 9.32749661e-01 -4.62114334e-03 3.13109083e+01] [ 1.20115863e-02 3.11650394e-04 9.99927810e-01 1.82554629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.520281693 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:161.61, Y:31.33, Z:1.82 [[ 9.35313415e-01 -3.53646440e-01 -1.10910788e-02 1.61606460e+02] [ 3.53616462e-01 9.35379086e-01 -4.62204506e-03 3.13337845e+01] [ 1.20089329e-02 4.01072701e-04 9.99927810e-01 1.82386546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.580281693 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:161.66, Y:31.36, Z:1.83 [[ 9.36611451e-01 -3.50194212e-01 -1.10907288e-02 1.61657409e+02] [ 3.50163982e-01 9.36677007e-01 -4.62288468e-03 3.13627820e+01] [ 1.20073381e-02 4.46272956e-04 9.99927810e-01 1.82803683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.640281693 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:161.71, Y:31.39, Z:1.83 [[ 9.37177384e-01 -3.48676879e-01 -1.10898878e-02 1.61707058e+02] [ 3.48646519e-01 9.37242880e-01 -4.62490131e-03 3.13915440e+01] [ 1.20065145e-02 4.67902133e-04 9.99927810e-01 1.82939249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.700281693 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:161.76, Y:31.42, Z:1.83 [[ 9.37579782e-01 -3.47593405e-01 -1.10895246e-02 1.61756170e+02] [ 3.47562959e-01 9.37645238e-01 -4.62577205e-03 3.14246826e+01] [ 1.20059278e-02 4.82722369e-04 9.99927810e-01 1.82885572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.760281693 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:161.80, Y:31.46, Z:1.83 [[ 9.35740213e-01 -3.52515664e-01 -1.10887001e-02 1.61804252e+02] [ 3.52485539e-01 9.35805818e-01 -4.62774776e-03 3.14605463e+01] [ 1.20082236e-02 4.21763249e-04 9.99927810e-01 1.82993454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.820281693 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:161.86, Y:31.49, Z:1.83 [[ 9.34320477e-01 -3.56261568e-01 -1.10878837e-02 1.61855436e+02] [ 3.56231682e-01 9.34386191e-01 -4.62970291e-03 3.14878767e+01] [ 1.20097506e-02 3.75770769e-04 9.99927810e-01 1.82780736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.880281693 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:161.91, Y:31.52, Z:1.83 [[ 9.32357699e-01 -3.61367123e-01 -1.10870627e-02 1.61906414e+02] [ 3.61337574e-01 9.32423565e-01 -4.63166829e-03 3.15163039e+01] [ 1.20115711e-02 3.12199263e-04 9.99927810e-01 1.82950699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.940281693 meters Centerline goodness : 0.999194 with order 1 Centerline is valid? [True, True] Translation: X:161.96, Y:31.54, Z:1.83 [[ 9.31557256e-01 -3.63425611e-01 -1.10862406e-02 1.61957599e+02] [ 3.63396185e-01 9.31623176e-01 -4.63363519e-03 3.15439561e+01] [ 1.20121803e-02 2.87798955e-04 9.99927810e-01 1.82895303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.000281693 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:162.01, Y:31.57, Z:1.82 [[ 9.30934306e-01 -3.65018399e-01 -1.10853986e-02 1.62009740e+02] [ 3.64989062e-01 9.31000266e-01 -4.63564861e-03 3.15679695e+01] [ 1.20126061e-02 2.69435089e-04 9.99927810e-01 1.82456351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.060281693 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:162.06, Y:31.59, Z:1.83 [[ 9.30291163e-01 -3.66654434e-01 -1.10850314e-02 1.62062853e+02] [ 3.66625202e-01 9.30357170e-01 -4.63652647e-03 3.15921016e+01] [ 1.20130414e-02 2.49267723e-04 9.99927810e-01 1.82751235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.120281693 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:162.12, Y:31.61, Z:1.83 [[ 9.28410996e-01 -3.71389501e-01 -1.10842150e-02 1.62117221e+02] [ 3.71360583e-01 9.28477141e-01 -4.63847739e-03 3.16124636e+01] [ 1.20141221e-02 1.90172870e-04 9.99927810e-01 1.82823800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.180281693 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:162.17, Y:31.63, Z:1.83 [[ 9.26399474e-01 -3.76379028e-01 -1.10833811e-02 1.62171304e+02] [ 3.76350442e-01 9.26465764e-01 -4.64046909e-03 3.16304288e+01] [ 1.20149484e-02 1.27692748e-04 9.99927810e-01 1.82506875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.240281693 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:162.23, Y:31.65, Z:1.83 [[ 9.25882407e-01 -3.77649229e-01 -1.10828178e-02 1.62226424e+02] [ 3.77620717e-01 9.25948728e-01 -4.64181404e-03 3.16482351e+01] [ 1.20150985e-02 1.12672352e-04 9.99927810e-01 1.82862507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.300281693 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:162.28, Y:31.67, Z:1.83 [[ 9.26422848e-01 -3.76321533e-01 -1.10819790e-02 1.62281425e+02] [ 3.76292902e-01 9.26489118e-01 -4.64381579e-03 3.16650430e+01] [ 1.20149008e-02 1.32067018e-04 9.99927810e-01 1.83386135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.360281693 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:162.34, Y:31.68, Z:1.84 [[ 9.27505334e-01 -3.73645625e-01 -1.10816166e-02 1.62336159e+02] [ 3.73616793e-01 9.27571517e-01 -4.64468044e-03 3.16846089e+01] [ 1.20144564e-02 1.67687844e-04 9.99927810e-01 1.83534464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.420281693 meters Centerline goodness : 0.999234 with order 1 Centerline is valid? [True, True] Translation: X:162.39, Y:31.70, Z:1.83 [[ 9.28606102e-01 -3.70901502e-01 -1.10807911e-02 1.62390921e+02] [ 3.70872451e-01 9.28672188e-01 -4.64664896e-03 3.17023968e+01] [ 1.20138716e-02 2.05346425e-04 9.99927810e-01 1.83376750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.480281693 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:162.44, Y:31.72, Z:1.83 [[ 9.29944687e-01 -3.67532451e-01 -1.10804340e-02 1.62444640e+02] [ 3.67503151e-01 9.30010664e-01 -4.64750025e-03 3.17213643e+01] [ 1.20130290e-02 2.49823745e-04 9.99927810e-01 1.83253046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.540281693 meters Centerline goodness : 0.999260 with order 1 Centerline is valid? [True, True] Translation: X:162.50, Y:31.74, Z:1.83 [[ 9.29447518e-01 -3.68787943e-01 -1.10798809e-02 1.62500050e+02] [ 3.68758716e-01 9.29513527e-01 -4.64881859e-03 3.17402504e+01] [ 1.20133274e-02 2.35030244e-04 9.99927810e-01 1.83332103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.600281693 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:162.55, Y:31.76, Z:1.84 [[ 9.28242667e-01 -3.71810172e-01 -1.10791028e-02 1.62554060e+02] [ 3.71781138e-01 9.28308762e-01 -4.65067231e-03 3.17614964e+01] [ 1.20139954e-02 1.97951045e-04 9.99927810e-01 1.83665741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.660281693 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:162.61, Y:31.78, Z:1.83 [[ 9.27490777e-01 -3.73681858e-01 -1.10782633e-02 1.62608959e+02] [ 3.73652934e-01 9.27556919e-01 -4.65267121e-03 3.17801447e+01] [ 1.20143386e-02 1.75884064e-04 9.99927810e-01 1.83414696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.720281693 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:162.66, Y:31.80, Z:1.83 [[ 9.27768148e-01 -3.72992700e-01 -1.10774125e-02 1.62663468e+02] [ 3.72963702e-01 9.27834258e-01 -4.65469579e-03 3.18009277e+01] [ 1.20141704e-02 1.87005708e-04 9.99927810e-01 1.83467585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.780281693 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:162.72, Y:31.82, Z:1.84 [[ 9.28822848e-01 -3.70358512e-01 -1.10765448e-02 1.62717127e+02] [ 3.70329302e-01 9.28888864e-01 -4.65675985e-03 3.18229993e+01] [ 1.20135497e-02 2.23335848e-04 9.99927810e-01 1.83753882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.840281693 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:162.77, Y:31.85, Z:1.83 [[ 9.30540398e-01 -3.66021717e-01 -1.10756675e-02 1.62770136e+02] [ 3.65992175e-01 9.30606266e-01 -4.65884532e-03 3.18450406e+01] [ 1.20123242e-02 2.81636129e-04 9.99927810e-01 1.83484722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.900281693 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:162.82, Y:31.87, Z:1.83 [[ 9.31517507e-01 -3.63527816e-01 -1.10752884e-02 1.62822950e+02] [ 3.63498086e-01 9.31583291e-01 -4.65974655e-03 3.18681889e+01] [ 1.20115011e-02 3.14789369e-04 9.99927810e-01 1.83462933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96028169299998 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:162.87, Y:31.90, Z:1.84 [[ 9.34172994e-01 -3.56648528e-01 -1.10744705e-02 1.62872855e+02] [ 3.56618291e-01 9.34238547e-01 -4.66168953e-03 3.18978232e+01] [ 1.20087819e-02 4.05465721e-04 9.99927810e-01 1.83704635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.020281693 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:162.92, Y:31.93, Z:1.84 [[ 9.35428952e-01 -3.53341267e-01 -1.10736239e-02 1.62922311e+02] [ 3.53310775e-01 9.35494386e-01 -4.66369971e-03 3.19295922e+01] [ 1.20071905e-02 4.50129094e-04 9.99927810e-01 1.83755455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.080281693 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:162.97, Y:31.96, Z:1.83 [[ 9.34605686e-01 -3.55513157e-01 -1.10727807e-02 1.62973323e+02] [ 3.55482793e-01 9.34671180e-01 -4.66570075e-03 3.19591740e+01] [ 1.20081270e-02 4.24407429e-04 9.99927810e-01 1.83274612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.140281693 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:163.02, Y:31.99, Z:1.83 [[ 9.30063844e-01 -3.67231065e-01 -1.10720517e-02 1.63024660e+02] [ 3.67201506e-01 9.30129705e-01 -4.66743001e-03 3.19872598e+01] [ 1.20124695e-02 2.75333812e-04 9.99927810e-01 1.83438746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.200281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:163.08, Y:32.01, Z:1.84 [[ 9.25542183e-01 -3.78482606e-01 -1.10717933e-02 1.63076127e+02] [ 3.78453840e-01 9.25608395e-01 -4.66804307e-03 3.20139004e+01] [ 1.20149179e-02 1.30308095e-04 9.99927810e-01 1.83599820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.260281693 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:163.13, Y:32.04, Z:1.84 [[ 9.23355828e-01 -3.83785681e-01 -1.10709357e-02 1.63128667e+02] [ 3.83757271e-01 9.23422193e-01 -4.67007615e-03 3.20382041e+01] [ 1.20154560e-02 6.35899722e-05 9.99927810e-01 1.83950970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.320281693 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:163.18, Y:32.06, Z:1.84 [[ 9.21243610e-01 -3.88828580e-01 -1.10700597e-02 1.63181657e+02] [ 3.88800509e-01 9.21310119e-01 -4.67215158e-03 3.20613332e+01] [ 1.20156241e-02 1.44933485e-07 9.99927810e-01 1.84007715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.380281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:163.24, Y:32.08, Z:1.84 [[ 9.20256252e-01 -3.91159691e-01 -1.10691845e-02 1.63236181e+02] [ 3.91131763e-01 9.20322821e-01 -4.67422431e-03 3.20799234e+01] [ 1.20155912e-02 -2.80254835e-05 9.99927810e-01 1.84314113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.440281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:163.29, Y:32.10, Z:1.85 [[ 9.18349780e-01 -3.95614917e-01 -1.10687981e-02 1.63291518e+02] [ 3.95587301e-01 9.18416480e-01 -4.67513914e-03 3.20962096e+01] [ 1.20153213e-02 -8.52629496e-05 9.99927810e-01 1.84754329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.500281693 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:163.35, Y:32.11, Z:1.85 [[ 9.17373916e-01 -3.97872579e-01 -1.10684159e-02 1.63347629e+02] [ 3.97845116e-01 9.17440678e-01 -4.67604383e-03 3.21130801e+01] [ 1.20150846e-02 -1.13834558e-04 9.99927810e-01 1.84757398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.560281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:163.41, Y:32.12, Z:1.84 [[ 9.19843860e-01 -3.92128527e-01 -1.10675794e-02 1.63406005e+02] [ 3.92100624e-01 9.19910440e-01 -4.67802281e-03 3.21246221e+01] [ 1.20155680e-02 -3.65542245e-05 9.99927810e-01 1.84321676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.620281693 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:163.46, Y:32.14, Z:1.84 [[ 9.21461005e-01 -3.88313203e-01 -1.10667030e-02 1.63460672e+02] [ 3.88285000e-01 9.21527458e-01 -4.68009507e-03 3.21405470e+01] [ 1.20156134e-02 1.54903337e-05 9.99927810e-01 1.84325219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.680281693 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:163.52, Y:32.15, Z:1.84 [[ 9.22301281e-01 -3.86313193e-01 -1.10663227e-02 1.63517921e+02] [ 3.86284835e-01 9.22367668e-01 -4.68099428e-03 3.21534795e+01] [ 1.20155481e-02 4.25344054e-05 9.99927810e-01 1.84451015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.740281693 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:163.57, Y:32.17, Z:1.84 [[ 9.23590097e-01 -3.83221722e-01 -1.10654734e-02 1.63573677e+02] [ 3.83193117e-01 9.23656378e-01 -4.68300093e-03 3.21689599e+01] [ 1.20153228e-02 8.49600252e-05 9.99927810e-01 1.84304332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.800281693 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:163.63, Y:32.19, Z:1.84 [[ 9.24991989e-01 -3.79825465e-01 -1.10651049e-02 1.63627904e+02] [ 3.79796606e-01 9.25058160e-01 -4.68387148e-03 3.21908387e+01] [ 1.20149193e-02 1.30054291e-04 9.99927810e-01 1.84213904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.860281693 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:163.68, Y:32.21, Z:1.84 [[ 9.27031362e-01 -3.74820539e-01 -1.10642685e-02 1.63681706e+02] [ 3.74791300e-01 9.27097365e-01 -4.68584649e-03 3.22123910e+01] [ 1.20140057e-02 1.97135090e-04 9.99927810e-01 1.84494485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.920281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:163.74, Y:32.24, Z:1.85 [[ 9.26706773e-01 -3.75622342e-01 -1.10640107e-02 1.63735844e+02] [ 3.75593152e-01 9.26772799e-01 -4.68645517e-03 3.22356248e+01] [ 1.20141614e-02 1.87403106e-04 9.99927810e-01 1.84943892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.980281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:163.79, Y:32.26, Z:1.84 [[ 9.24852008e-01 -3.80166235e-01 -1.10632933e-02 1.63791206e+02] [ 3.80137350e-01 9.24918168e-01 -4.68814796e-03 3.22563223e+01] [ 1.20149166e-02 1.30272047e-04 9.99927810e-01 1.84479459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.040281693 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:163.84, Y:32.28, Z:1.84 [[ 9.22593338e-01 -3.85615292e-01 -1.10625256e-02 1.63844864e+02] [ 3.85586776e-01 9.22659657e-01 -4.68995881e-03 3.22767261e+01] [ 1.20154659e-02 6.13611622e-05 9.99927810e-01 1.84411418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.100281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:163.90, Y:32.30, Z:1.84 [[ 9.22040236e-01 -3.86935954e-01 -1.10621455e-02 1.63899852e+02] [ 3.86907521e-01 9.22106591e-01 -4.69085529e-03 3.22964849e+01] [ 1.20155378e-02 4.51300369e-05 9.99927810e-01 1.84466599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.160281693 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:163.95, Y:32.32, Z:1.85 [[ 9.23825996e-01 -3.82652816e-01 -1.10612604e-02 1.63953966e+02] [ 3.82624051e-01 9.23892208e-01 -4.69294146e-03 3.23174533e+01] [ 1.20151795e-02 1.03157069e-04 9.99927810e-01 1.84573980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.220281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:164.01, Y:32.34, Z:1.85 [[ 9.25385106e-01 -3.78866828e-01 -1.10603703e-02 1.64007347e+02] [ 3.78837767e-01 9.25451189e-01 -4.69503829e-03 3.23394170e+01] [ 1.20146271e-02 1.54632528e-04 9.99927810e-01 1.84889928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.280281693 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:164.06, Y:32.37, Z:1.85 [[ 9.28942100e-01 -3.70059791e-01 -1.10600952e-02 1.64058965e+02] [ 3.70030096e-01 9.29007900e-01 -4.69568631e-03 3.23651272e+01] [ 1.20126005e-02 2.69452629e-04 9.99927810e-01 1.84891889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.340281693 meters Centerline goodness : 0.999421 with order 1 Centerline is valid? [True, True] Translation: X:164.11, Y:32.39, Z:1.85 [[ 9.30376695e-01 -3.66438124e-01 -1.10592258e-02 1.64112245e+02] [ 3.66408149e-01 9.30442368e-01 -4.69773290e-03 3.23887741e+01] [ 1.20114007e-02 3.18470756e-04 9.99927810e-01 1.85352591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.400281693 meters Centerline goodness : 0.999469 with order 1 Centerline is valid? [True, True] Translation: X:164.16, Y:32.41, Z:1.85 [[ 9.30357514e-01 -3.66486830e-01 -1.10589463e-02 1.64164634e+02] [ 3.66456850e-01 9.30423185e-01 -4.69839087e-03 3.24126317e+01] [ 1.20113984e-02 3.18556626e-04 9.99927810e-01 1.85465115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46028169299998 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:164.22, Y:32.44, Z:1.86 [[ 9.29859611e-01 -3.67748316e-01 -1.10580571e-02 1.64216964e+02] [ 3.67718400e-01 9.29925311e-01 -4.70048277e-03 3.24369969e+01] [ 1.20117618e-02 3.04538026e-04 9.99927810e-01 1.85861679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.520281693 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:164.27, Y:32.46, Z:1.86 [[ 9.27527640e-01 -3.73590974e-01 -1.10571628e-02 1.64269531e+02] [ 3.73561448e-01 9.27593516e-01 -4.70258556e-03 3.24591460e+01] [ 1.20133960e-02 2.31248356e-04 9.99927810e-01 1.85794641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.580281693 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:164.32, Y:32.48, Z:1.85 [[ 9.24604699e-01 -3.80767512e-01 -1.10567768e-02 1.64324298e+02] [ 3.80738486e-01 9.24670797e-01 -4.70349284e-03 3.24795051e+01] [ 1.20148159e-02 1.39131126e-04 9.99927810e-01 1.85297604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.640281693 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:164.38, Y:32.50, Z:1.85 [[ 9.22891419e-01 -3.84901541e-01 -1.10558938e-02 1.64379811e+02] [ 3.84872786e-01 9.22957635e-01 -4.70556748e-03 3.24976333e+01] [ 1.20153018e-02 8.76151917e-05 9.99927810e-01 1.85342067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.700281693 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:164.44, Y:32.51, Z:1.85 [[ 9.22225908e-01 -3.86493417e-01 -1.10550161e-02 1.64436745e+02] [ 3.86464752e-01 9.22292163e-01 -4.70762868e-03 3.25114506e+01] [ 1.20154222e-02 6.91230878e-05 9.99927810e-01 1.85336003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.760281693 meters Centerline goodness : 0.999444 with order 1 Centerline is valid? [True, True] Translation: X:164.49, Y:32.53, Z:1.85 [[ 9.22283749e-01 -3.86355397e-01 -1.10541362e-02 1.64490582e+02] [ 3.86326697e-01 9.22349989e-01 -4.70969373e-03 3.25313663e+01] [ 1.20153980e-02 7.31660556e-05 9.99927810e-01 1.85384426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.820281693 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:164.55, Y:32.55, Z:1.86 [[ 9.24086310e-01 -3.82023960e-01 -1.10537550e-02 1.64548108e+02] [ 3.81994939e-01 9.24152410e-01 -4.71058845e-03 3.25465762e+01] [ 1.20149119e-02 1.30511849e-04 9.99927810e-01 1.85967678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.880281693 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:164.60, Y:32.56, Z:1.86 [[ 9.25968621e-01 -3.77438662e-01 -1.10530000e-02 1.64604037e+02] [ 3.77409292e-01 9.26034567e-01 -4.71235925e-03 3.25643391e+01] [ 1.20140866e-02 1.91991899e-04 9.99927810e-01 1.85896839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.940281693 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:164.66, Y:32.58, Z:1.86 [[ 9.26673473e-01 -3.75704837e-01 -1.10521416e-02 1.64658662e+02] [ 3.75675320e-01 9.26739353e-01 -4.71437155e-03 3.25844609e+01] [ 1.20136668e-02 2.16666219e-04 9.99927810e-01 1.85803811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.000281693 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:164.71, Y:32.61, Z:1.86 [[ 9.28705121e-01 -3.70654377e-01 -1.10512932e-02 1.64711834e+02] [ 3.70624478e-01 9.28770829e-01 -4.71635950e-03 3.26063520e+01] [ 1.20122581e-02 2.84227435e-04 9.99927810e-01 1.86372191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.060281693 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:164.76, Y:32.63, Z:1.87 [[ 9.30591636e-01 -3.65892190e-01 -1.10504343e-02 1.64764572e+02] [ 3.65861932e-01 9.30657179e-01 -4.71837117e-03 3.26301302e+01] [ 1.20105811e-02 3.47943513e-04 9.99927810e-01 1.86509411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.120281693 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:164.81, Y:32.66, Z:1.86 [[ 9.32599512e-01 -3.60743755e-01 -1.10495667e-02 1.64814337e+02] [ 3.60713110e-01 9.32664876e-01 -4.72040209e-03 3.26597720e+01] [ 1.20083983e-02 4.16521136e-04 9.99927810e-01 1.86116111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.180281693 meters Centerline goodness : 0.999469 with order 1 Centerline is valid? [True, True] Translation: X:164.86, Y:32.69, Z:1.86 [[ 9.33478565e-01 -3.58462942e-01 -1.10492989e-02 1.64864956e+02] [ 3.58432131e-01 9.33543850e-01 -4.72102876e-03 3.26880886e+01] [ 1.20073189e-02 4.46555408e-04 9.99927810e-01 1.86150589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.240281693 meters Centerline goodness : 0.999195 with order 1 Centerline is valid? [True, True] Translation: X:164.91, Y:32.72, Z:1.86 [[ 9.33542073e-01 -3.58297543e-01 -1.10484483e-02 1.64913702e+02] [ 3.58266697e-01 9.33607341e-01 -4.72301854e-03 3.27214165e+01] [ 1.20071584e-02 4.50845439e-04 9.99927810e-01 1.86455693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.300281693 meters Centerline goodness : 0.999173 with order 1 Centerline is valid? [True, True] Translation: X:164.96, Y:32.76, Z:1.86 [[ 9.33167151e-01 -3.59272885e-01 -1.10481861e-02 1.64962768e+02] [ 3.59242100e-01 9.33232448e-01 -4.72363182e-03 3.27554144e+01] [ 1.20075986e-02 4.38964474e-04 9.99927810e-01 1.86281080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.360281693 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:165.01, Y:32.79, Z:1.86 [[ 9.31740419e-01 -3.62956949e-01 -1.10473551e-02 1.65012086e+02] [ 3.62926398e-01 9.31805826e-01 -4.72557462e-03 3.27872798e+01] [ 1.20091700e-02 3.93632093e-04 9.99927810e-01 1.85951363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.420281693 meters Centerline goodness : 0.998915 with order 1 Centerline is valid? [True, True] Translation: X:165.06, Y:32.82, Z:1.87 [[ 9.28282223e-01 -3.71712374e-01 -1.10465302e-02 1.65064022e+02] [ 3.71682418e-01 9.28347904e-01 -4.72750211e-03 3.28163786e+01] [ 1.20122942e-02 2.82655132e-04 9.99927810e-01 1.86614252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.480281693 meters Centerline goodness : 0.999169 with order 1 Centerline is valid? [True, True] Translation: X:165.12, Y:32.84, Z:1.87 [[ 9.25541155e-01 -3.78485879e-01 -1.10457826e-02 1.65117215e+02] [ 3.78456383e-01 9.25607044e-01 -4.72924810e-03 3.28401090e+01] [ 1.20140078e-02 1.96766814e-04 9.99927810e-01 1.86916646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.540281693 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:165.17, Y:32.86, Z:1.87 [[ 9.20912298e-01 -3.89613334e-01 -1.10449327e-02 1.65170900e+02] [ 3.89584610e-01 9.20978527e-01 -4.73123212e-03 3.28607697e+01] [ 1.20154970e-02 5.41140343e-05 9.99927810e-01 1.86730201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.600281693 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:165.23, Y:32.87, Z:1.87 [[ 9.17558908e-01 -3.97446434e-01 -1.10445637e-02 1.65229186e+02] [ 3.97418265e-01 9.17625376e-01 -4.73209338e-03 3.28713325e+01] [ 1.20155256e-02 -4.73369242e-05 9.99927810e-01 1.86553598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.660281693 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:165.29, Y:32.88, Z:1.87 [[ 9.16714909e-01 -3.99389298e-01 -1.10437107e-02 1.65285712e+02] [ 3.99361246e-01 9.16781426e-01 -4.73408338e-03 3.28833689e+01] [ 1.20154111e-02 -7.06252426e-05 9.99927810e-01 1.86561336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.720281693 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:165.34, Y:32.90, Z:1.87 [[ 9.18323115e-01 -3.95677523e-01 -1.10433424e-02 1.65341942e+02] [ 3.95649191e-01 9.18389513e-01 -4.73494240e-03 3.29003134e+01] [ 1.20156001e-02 -2.10824255e-05 9.99927810e-01 1.87077466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.780281693 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:165.40, Y:32.92, Z:1.87 [[ 9.21010019e-01 -3.89382342e-01 -1.10425190e-02 1.65396154e+02] [ 3.89353534e-01 9.21076212e-01 -4.73686179e-03 3.29216831e+01] [ 1.20154519e-02 6.32533582e-05 9.99927810e-01 1.87159011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.840281693 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:165.45, Y:32.94, Z:1.88 [[ 9.21641639e-01 -3.87884997e-01 -1.10416942e-02 1.65449999e+02] [ 3.87856058e-01 9.21707775e-01 -4.73878364e-03 3.29428031e+01] [ 1.20153185e-02 8.48723196e-05 9.99927810e-01 1.87736815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.900281693 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:165.50, Y:32.97, Z:1.88 [[ 9.21193391e-01 -3.88948372e-01 -1.10408366e-02 1.65502835e+02] [ 3.88919486e-01 9.21259550e-01 -4.74078094e-03 3.29666735e+01] [ 1.20153952e-02 7.31795759e-05 9.99927810e-01 1.87747920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96028169299998 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:165.56, Y:32.99, Z:1.87 [[ 9.19367973e-01 -3.93243753e-01 -1.10399734e-02 1.65556521e+02] [ 3.93215152e-01 9.19434256e-01 -4.74279024e-03 3.29850675e+01] [ 1.20156024e-02 1.92846304e-05 9.99927810e-01 1.87367845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.020281693 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:165.61, Y:33.01, Z:1.87 [[ 9.18067819e-01 -3.96269620e-01 -1.10393864e-02 1.65611034e+02] [ 3.96241221e-01 9.18134188e-01 -4.74415609e-03 3.30053705e+01] [ 1.20156030e-02 -1.88029178e-05 9.99927810e-01 1.87167264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.080281693 meters Centerline goodness : 0.999110 with order 1 Centerline is valid? [True, True] Translation: X:165.67, Y:33.02, Z:1.87 [[ 9.18822540e-01 -3.94516527e-01 -1.10385290e-02 1.65667500e+02] [ 3.94487977e-01 9.18888845e-01 -4.74615031e-03 3.30220290e+01] [ 1.20156159e-02 6.30291349e-06 9.99927810e-01 1.87293842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.140281693 meters Centerline goodness : 0.998785 with order 1 Centerline is valid? [True, True] Translation: X:165.72, Y:33.04, Z:1.88 [[ 9.20440991e-01 -3.90725675e-01 -1.10376353e-02 1.65721026e+02] [ 3.90696827e-01 9.20507167e-01 -4.74822778e-03 3.30422012e+01] [ 1.20154769e-02 5.80944006e-05 9.99927810e-01 1.87663161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.200281693 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:165.77, Y:33.06, Z:1.88 [[ 9.23442178e-01 -3.83578835e-01 -1.10372489e-02 1.65774923e+02] [ 3.83549464e-01 9.23508124e-01 -4.74912567e-03 3.30619743e+01] [ 1.20146532e-02 1.52212041e-04 9.99927810e-01 1.87667785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.260281693 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:165.83, Y:33.09, Z:1.87 [[ 9.25449845e-01 -3.78709351e-01 -1.10368688e-02 1.65827181e+02] [ 3.78679623e-01 9.25515630e-01 -4.75000888e-03 3.30864239e+01] [ 1.20136674e-02 2.16457646e-04 9.99927810e-01 1.87292462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.320281693 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:165.88, Y:33.11, Z:1.87 [[ 9.26330554e-01 -3.76550011e-01 -1.10360111e-02 1.65879130e+02] [ 3.76520106e-01 9.26396259e-01 -4.75200092e-03 3.31126907e+01] [ 1.20130854e-02 2.46643585e-04 9.99927810e-01 1.87031419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.380281693 meters Centerline goodness : 0.999367 with order 1 Centerline is valid? [True, True] Translation: X:165.93, Y:33.14, Z:1.87 [[ 9.26351753e-01 -3.76497882e-01 -1.10351637e-02 1.65930933e+02] [ 3.76467950e-01 9.26417445e-01 -4.75396801e-03 3.31399697e+01] [ 1.20130270e-02 2.49461161e-04 9.99927810e-01 1.87349866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.440281693 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:165.98, Y:33.17, Z:1.87 [[ 9.26497218e-01 -3.76139801e-01 -1.10343102e-02 1.65980449e+02] [ 3.76109820e-01 9.26562888e-01 -4.75594811e-03 3.31682421e+01] [ 1.20128837e-02 2.56260271e-04 9.99927810e-01 1.87055469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.500281693 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:166.03, Y:33.20, Z:1.87 [[ 9.25265301e-01 -3.79160091e-01 -1.10339411e-02 1.66029916e+02] [ 3.79130314e-01 9.25331064e-01 -4.75680422e-03 3.32002950e+01] [ 1.20136388e-02 2.18004319e-04 9.99927810e-01 1.87084325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.560281693 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:166.08, Y:33.23, Z:1.87 [[ 9.23111064e-01 -3.84375123e-01 -1.10330836e-02 1.66080604e+02] [ 3.84345694e-01 9.23176983e-01 -4.75879231e-03 3.32300981e+01] [ 1.20146502e-02 1.52375648e-04 9.99927810e-01 1.87297087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.620281693 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:166.13, Y:33.26, Z:1.87 [[ 9.21147722e-01 -3.89056763e-01 -1.10322300e-02 1.66132617e+02] [ 3.89027645e-01 9.21213779e-01 -4.76077034e-03 3.32585941e+01] [ 1.20152522e-02 9.35302855e-05 9.99927810e-01 1.86993517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.680281693 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:166.18, Y:33.29, Z:1.88 [[ 9.18802734e-01 -3.94562850e-01 -1.10314657e-02 1.66183877e+02] [ 3.94534107e-01 9.18868955e-01 -4.76254080e-03 3.32879747e+01] [ 1.20155930e-02 2.35460387e-05 9.99927810e-01 1.87836355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.740281693 meters Centerline goodness : 0.999428 with order 1 Centerline is valid? [True, True] Translation: X:166.24, Y:33.31, Z:1.88 [[ 9.17890759e-01 -3.96679818e-01 -1.10307035e-02 1.66236071e+02] [ 3.96651206e-01 9.17957037e-01 -4.76430545e-03 3.33110037e+01] [ 1.20156157e-02 -2.22989897e-06 9.99927810e-01 1.87897867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.800281693 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:166.29, Y:33.33, Z:1.88 [[ 9.16959484e-01 -3.98827829e-01 -1.10303271e-02 1.66288987e+02] [ 3.98799362e-01 9.17025824e-01 -4.76517678e-03 3.33336549e+01] [ 1.20155799e-02 -2.94133724e-05 9.99927810e-01 1.87539733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.860281693 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:166.34, Y:33.35, Z:1.87 [[ 9.16259626e-01 -4.00433075e-01 -1.10294715e-02 1.66343555e+02] [ 4.00404701e-01 9.16326006e-01 -4.76715632e-03 3.33536840e+01] [ 1.20155186e-02 -4.82993629e-05 9.99927810e-01 1.87384482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.920281693 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:166.40, Y:33.37, Z:1.88 [[ 9.17737258e-01 -3.97034879e-01 -1.10286192e-02 1.66397869e+02] [ 3.97006235e-01 9.17803522e-01 -4.76912727e-03 3.33725471e+01] [ 1.20156154e-02 -1.62479687e-06 9.99927810e-01 1.87790332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.980281693 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:166.45, Y:33.39, Z:1.88 [[ 9.17796729e-01 -3.96897391e-01 -1.10283556e-02 1.66451894e+02] [ 3.96868730e-01 9.17862986e-01 -4.76973671e-03 3.33929795e+01] [ 1.20156155e-02 8.39261521e-07 9.99927810e-01 1.87747749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.040281693 meters Centerline goodness : 0.999406 with order 1 Centerline is valid? [True, True] Translation: X:166.51, Y:33.41, Z:1.88 [[ 9.16404865e-01 -4.00100633e-01 -1.10275149e-02 1.66507309e+02] [ 4.00072180e-01 9.16471212e-01 -4.77167958e-03 3.34121673e+01] [ 1.20155520e-02 -3.90115530e-05 9.99927810e-01 1.87530993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.100281693 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:166.56, Y:33.43, Z:1.88 [[ 9.15653835e-01 -4.01816461e-01 -1.10266400e-02 1.66561066e+02] [ 4.01788108e-01 9.15720224e-01 -4.77370050e-03 3.34337067e+01] [ 1.20154687e-02 -5.93156567e-05 9.99927810e-01 1.87508973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.160281693 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:166.61, Y:33.46, Z:1.88 [[ 9.16477615e-01 -3.99934011e-01 -1.10257371e-02 1.66613336e+02] [ 3.99905497e-01 9.16543935e-01 -4.77578511e-03 3.34575774e+01] [ 1.20155713e-02 -3.23527173e-05 9.99927810e-01 1.87566952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.220281693 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:166.67, Y:33.48, Z:1.88 [[ 9.15416752e-01 -4.02356331e-01 -1.10251260e-02 1.66666638e+02] [ 4.02327975e-01 9.15483140e-01 -4.77719547e-03 3.34803628e+01] [ 1.20154518e-02 -6.25918424e-05 9.99927810e-01 1.88124853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.280281693 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:166.72, Y:33.50, Z:1.88 [[ 9.12660164e-01 -4.08570533e-01 -1.10247282e-02 1.66720842e+02] [ 4.08542617e-01 9.12726739e-01 -4.77811325e-03 3.35018557e+01] [ 1.20147605e-02 -1.43277685e-04 9.99927810e-01 1.88423097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.340281693 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:166.78, Y:33.52, Z:1.88 [[ 9.09041870e-01 -4.16558943e-01 -1.10238201e-02 1.66775317e+02] [ 4.16531588e-01 9.09108677e-01 -4.78020745e-03 3.35211820e+01] [ 1.20130887e-02 -2.46360569e-04 9.99927810e-01 1.87890905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.400281693 meters Centerline goodness : 0.999150 with order 1 Centerline is valid? [True, True] Translation: X:166.83, Y:33.54, Z:1.88 [[ 9.07778809e-01 -4.19304322e-01 -1.10235396e-02 1.66830996e+02] [ 4.19277161e-01 9.07845695e-01 -4.78085430e-03 3.35378434e+01] [ 1.20123058e-02 -2.81960142e-04 9.99927810e-01 1.88114195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46028169299998 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:166.89, Y:33.55, Z:1.88 [[ 9.08274581e-01 -4.18229346e-01 -1.10226554e-02 1.66887638e+02] [ 4.18202081e-01 9.08341425e-01 -4.78289200e-03 3.35549179e+01] [ 1.20126803e-02 -2.65518187e-04 9.99927810e-01 1.88483671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.520281693 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:166.94, Y:33.58, Z:1.89 [[ 9.09704018e-01 -4.15110970e-01 -1.10218869e-02 1.66941810e+02] [ 4.15083454e-01 9.09770759e-01 -4.78466220e-03 3.35754819e+01] [ 1.20135562e-02 -2.22376461e-04 9.99927810e-01 1.88949663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.580281693 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:166.99, Y:33.60, Z:1.89 [[ 9.12560063e-01 -4.08794149e-01 -1.10216151e-02 1.66994687e+02] [ 4.08766164e-01 9.12626607e-01 -4.78528835e-03 3.35958442e+01] [ 1.20148170e-02 -1.38400272e-04 9.99927810e-01 1.88795062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.640281693 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:167.05, Y:33.62, Z:1.88 [[ 9.14221634e-01 -4.05064607e-01 -1.10212420e-02 1.67050218e+02] [ 4.05036340e-01 9.14288060e-01 -4.78614733e-03 3.36151820e+01] [ 1.20152889e-02 -8.84041033e-05 9.99927810e-01 1.88432804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.700281693 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:167.10, Y:33.64, Z:1.89 [[ 9.14911860e-01 -4.03503205e-01 -1.10205004e-02 1.67103518e+02] [ 4.03474804e-01 9.14978229e-01 -4.78785448e-03 3.36364590e+01] [ 1.20154325e-02 -6.60293774e-05 9.99927810e-01 1.88592885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.760281693 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:167.16, Y:33.66, Z:1.89 [[ 9.16262608e-01 -4.00426507e-01 -1.10202368e-02 1.67158083e+02] [ 4.00397875e-01 9.16328878e-01 -4.78846110e-03 3.36563401e+01] [ 1.20155880e-02 -2.49915371e-05 9.99927810e-01 1.88825780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.820281693 meters Centerline goodness : 0.998940 with order 1 Centerline is valid? [True, True] Translation: X:167.21, Y:33.68, Z:1.89 [[ 9.17760710e-01 -3.96980922e-01 -1.10193912e-02 1.67210247e+02] [ 3.96952018e-01 9.17826861e-01 -4.79040625e-03 3.36790384e+01] [ 1.20155931e-02 2.22770774e-05 9.99927810e-01 1.88695334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.880281693 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:167.27, Y:33.70, Z:1.88 [[ 9.18286483e-01 -3.95763208e-01 -1.10190249e-02 1.67265842e+02] [ 3.95734207e-01 9.18352591e-01 -4.79124858e-03 3.36982137e+01] [ 1.20155500e-02 3.91337218e-05 9.99927810e-01 1.88329016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.940281693 meters Centerline goodness : 0.998836 with order 1 Centerline is valid? [True, True] Translation: X:167.32, Y:33.72, Z:1.89 [[ 9.18715906e-01 -3.94765349e-01 -1.10182962e-02 1.67320000e+02] [ 3.94736256e-01 9.18781974e-01 -4.79292376e-03 3.37194909e+01] [ 1.20154922e-02 5.40143007e-05 9.99927810e-01 1.88593237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.000281693 meters Centerline goodness : 0.998715 with order 1 Centerline is valid? [True, True] Translation: X:167.37, Y:33.74, Z:1.89 [[ 9.19150572e-01 -3.93752243e-01 -1.10180391e-02 1.67374932e+02] [ 3.93723070e-01 9.19216605e-01 -4.79351481e-03 3.37386615e+01] [ 1.20154217e-02 6.79057174e-05 9.99927810e-01 1.88933697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.060281693 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:167.43, Y:33.76, Z:1.89 [[ 9.20543372e-01 -3.90484982e-01 -1.10171807e-02 1.67430178e+02] [ 3.90455551e-01 9.20609291e-01 -4.79548677e-03 3.37566044e+01] [ 1.20150845e-02 1.12734196e-04 9.99927810e-01 1.89149859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.120281693 meters Centerline goodness : 0.999023 with order 1 Centerline is valid? [True, True] Translation: X:167.48, Y:33.78, Z:1.89 [[ 9.22257776e-01 -3.86418473e-01 -1.10162834e-02 1.67484803e+02] [ 3.86388726e-01 9.22323553e-01 -4.79754727e-03 3.37768845e+01] [ 1.20144385e-02 1.68007565e-04 9.99927810e-01 1.88800040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.180281693 meters Centerline goodness : 0.998691 with order 1 Centerline is valid? [True, True] Translation: X:167.54, Y:33.80, Z:1.89 [[ 9.22650433e-01 -3.85479999e-01 -1.10158665e-02 1.67538177e+02] [ 3.85450175e-01 9.22716174e-01 -4.79850435e-03 3.37984962e+01] [ 1.20142456e-02 1.81274448e-04 9.99927810e-01 1.89097617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.240281693 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:167.59, Y:33.82, Z:1.90 [[ 9.23964043e-01 -3.82320700e-01 -1.10149507e-02 1.67590532e+02] [ 3.82290625e-01 9.24029671e-01 -4.80060553e-03 3.38219548e+01] [ 1.20135122e-02 2.24674493e-04 9.99927810e-01 1.89682465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.300281693 meters Centerline goodness : 0.998848 with order 1 Centerline is valid? [True, True] Translation: X:167.64, Y:33.85, Z:1.89 [[ 9.25273693e-01 -3.79140171e-01 -1.10146678e-02 1.67642395e+02] [ 3.79109864e-01 9.25339213e-01 -4.80125459e-03 3.38486620e+01] [ 1.20126525e-02 2.66705358e-04 9.99927810e-01 1.89480126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.360281693 meters Centerline goodness : 0.998506 with order 1 Centerline is valid? [True, True] Translation: X:167.70, Y:33.87, Z:1.89 [[ 9.24712387e-01 -3.80507158e-01 -1.10138192e-02 1.67695346e+02] [ 3.80476924e-01 9.24777941e-01 -4.80320040e-03 3.38748947e+01] [ 1.20129892e-02 2.51074847e-04 9.99927810e-01 1.89023670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.420281693 meters Centerline goodness : 0.998604 with order 1 Centerline is valid? [True, True] Translation: X:167.75, Y:33.90, Z:1.90 [[ 9.23516065e-01 -3.83401604e-01 -1.10130752e-02 1.67747311e+02] [ 3.83371555e-01 9.23581704e-01 -4.80490567e-03 3.39003010e+01] [ 1.20136833e-02 2.15307799e-04 9.99927810e-01 1.89909528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.480281693 meters Centerline goodness : 0.999278 with order 1 Centerline is valid? [True, True] Translation: X:167.80, Y:33.93, Z:1.90 [[ 9.21859681e-01 -3.87367327e-01 -1.10128125e-02 1.67799094e+02] [ 3.87337553e-01 9.21925446e-01 -4.80550783e-03 3.39269228e+01] [ 1.20144888e-02 1.64328081e-04 9.99927810e-01 1.90228861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.540281693 meters Centerline goodness : 0.998540 with order 1 Centerline is valid? [True, True] Translation: X:167.85, Y:33.96, Z:1.90 [[ 9.20565948e-01 -3.90431907e-01 -1.10119044e-02 1.67849498e+02] [ 3.90402328e-01 9.20631799e-01 -4.80758794e-03 3.39553354e+01] [ 1.20149450e-02 1.26628661e-04 9.99927810e-01 1.89504056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.600281693 meters Centerline goodness : 0.998832 with order 1 Centerline is valid? [True, True] Translation: X:167.90, Y:33.98, Z:1.90 [[ 9.19927813e-01 -3.91933111e-01 -1.10116244e-02 1.67902166e+02] [ 3.91903631e-01 9.19993709e-01 -4.80822914e-03 3.39793832e+01] [ 1.20151294e-02 1.07728152e-04 9.99927810e-01 1.89680509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.660281693 meters Centerline goodness : 0.999283 with order 1 Centerline is valid? [True, True] Translation: X:167.96, Y:34.00, Z:1.90 [[ 9.17479130e-01 -3.97631497e-01 -1.10108026e-02 1.67955973e+02] [ 3.97602404e-01 9.17545198e-01 -4.81011023e-03 3.40021341e+01] [ 1.20155604e-02 3.52541689e-05 9.99927810e-01 1.90152871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.720281693 meters Centerline goodness : 0.998733 with order 1 Centerline is valid? [True, True] Translation: X:168.01, Y:34.03, Z:1.91 [[ 9.16639139e-01 -3.99564099e-01 -1.10099271e-02 1.68008231e+02] [ 3.99535121e-01 9.16705258e-01 -4.81211343e-03 3.40260381e+01] [ 1.20156058e-02 1.21189593e-05 9.99927810e-01 1.90602843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.780281693 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:168.06, Y:34.06, Z:1.90 [[ 9.19222744e-01 -3.93583965e-01 -1.10095157e-02 1.68059830e+02] [ 3.93554545e-01 9.19288668e-01 -4.81305433e-03 3.40558319e+01] [ 1.20152641e-02 9.14240550e-05 9.99927810e-01 1.90135880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.840281693 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:168.11, Y:34.08, Z:1.91 [[ 9.20626152e-01 -3.90290016e-01 -1.10087548e-02 1.68112257e+02] [ 3.90260340e-01 9.20691960e-01 -4.81479422e-03 3.40819915e+01] [ 1.20148381e-02 1.36345090e-04 9.99927810e-01 1.90517809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.900281693 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:168.16, Y:34.11, Z:1.91 [[ 9.19819820e-01 -3.92186592e-01 -1.10080032e-02 1.68164145e+02] [ 3.92157031e-01 9.19885680e-01 -4.81651201e-03 3.41076500e+01] [ 1.20150759e-02 1.13457369e-04 9.99927810e-01 1.90846480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96028169299998 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:168.22, Y:34.13, Z:1.90 [[ 9.18326489e-01 -3.95670700e-01 -1.10071112e-02 1.68218186e+02] [ 3.95641364e-01 9.18392450e-01 -4.81854943e-03 3.41323836e+01] [ 1.20154067e-02 7.01330726e-05 9.99927810e-01 1.89890542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.020281693 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:168.27, Y:34.16, Z:1.90 [[ 9.17845115e-01 -3.96786086e-01 -1.10066790e-02 1.68270494e+02] [ 3.96756819e-01 9.17911106e-01 -4.81953665e-03 3.41575463e+01] [ 1.20154780e-02 5.66132325e-05 9.99927810e-01 1.90132355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.080281693 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:168.32, Y:34.18, Z:1.91 [[ 9.17892855e-01 -3.96675643e-01 -1.10063949e-02 1.68323635e+02] [ 3.96646360e-01 9.17958839e-01 -4.82018523e-03 3.41824277e+01] [ 1.20154676e-02 5.87670889e-05 9.99927810e-01 1.90623001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.140281693 meters Centerline goodness : 0.998877 with order 1 Centerline is valid? [True, True] Translation: X:168.38, Y:34.21, Z:1.91 [[ 9.18203589e-01 -3.95955864e-01 -1.10056332e-02 1.68375184e+02] [ 3.95926508e-01 9.18269540e-01 -4.82192387e-03 3.42090598e+01] [ 1.20154067e-02 7.00858854e-05 9.99927810e-01 1.90823503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.200281693 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:168.43, Y:34.24, Z:1.91 [[ 9.18611272e-01 -3.95009148e-01 -1.10047695e-02 1.68426017e+02] [ 3.94979701e-01 9.18677183e-01 -4.82389423e-03 3.42364298e+01] [ 1.20153130e-02 8.46230557e-05 9.99927810e-01 1.91042503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.260281693 meters Centerline goodness : 0.999260 with order 1 Centerline is valid? [True, True] Translation: X:168.48, Y:34.26, Z:1.91 [[ 9.17833651e-01 -3.96812680e-01 -1.10038907e-02 1.68476885e+02] [ 3.96783338e-01 9.17899610e-01 -4.82589806e-03 3.42647150e+01] [ 1.20154445e-02 6.32111647e-05 9.99927810e-01 1.91145615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.320281693 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:168.53, Y:34.29, Z:1.91 [[ 9.16914664e-01 -3.98931614e-01 -1.10030186e-02 1.68528835e+02] [ 3.98902401e-01 9.16980679e-01 -4.82788555e-03 3.42908351e+01] [ 1.20155516e-02 3.76285133e-05 9.99927810e-01 1.91189668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.380281693 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:168.58, Y:34.32, Z:1.92 [[ 9.14792645e-01 -4.03773909e-01 -1.10021438e-02 1.68579722e+02] [ 4.03745021e-01 9.14858803e-01 -4.82987835e-03 3.43159370e+01] [ 1.20155869e-02 -2.37235820e-05 9.99927810e-01 1.91522448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.440281693 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:168.63, Y:34.34, Z:1.92 [[ 9.13310067e-01 -4.07116300e-01 -1.10017658e-02 1.68633763e+02] [ 4.07087645e-01 9.13376326e-01 -4.83073920e-03 3.43376311e+01] [ 1.20154251e-02 -6.67201794e-05 9.99927810e-01 1.91527489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.500281693 meters Centerline goodness : 0.999387 with order 1 Centerline is valid? [True, True] Translation: X:168.69, Y:34.36, Z:1.91 [[ 9.12646261e-01 -4.08602231e-01 -1.10008646e-02 1.68687995e+02] [ 4.08573658e-01 9.12712556e-01 -4.83279064e-03 3.43571547e+01] [ 1.20153163e-02 -8.40351725e-05 9.99927810e-01 1.91160396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.560281693 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:168.74, Y:34.38, Z:1.91 [[ 9.15450542e-01 -4.02280125e-01 -1.10002536e-02 1.68739552e+02] [ 4.02251078e-01 9.15516631e-01 -4.83418098e-03 3.43807150e+01] [ 1.20156100e-02 5.89743816e-07 9.99927810e-01 1.91081198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.620281693 meters Centerline goodness : 0.999133 with order 1 Centerline is valid? [True, True] Translation: X:168.79, Y:34.41, Z:1.91 [[ 9.18912856e-01 -3.94307198e-01 -1.09998813e-02 1.68791647e+02] [ 3.94277567e-01 9.18978684e-01 -4.83502793e-03 3.44074340e+01] [ 1.20151428e-02 1.05962892e-04 9.99927810e-01 1.91286776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.680281693 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:168.84, Y:34.44, Z:1.92 [[ 9.24358857e-01 -3.81365606e-01 -1.09990142e-02 1.68840673e+02] [ 3.81335031e-01 9.24424252e-01 -4.83699971e-03 3.44405336e+01] [ 1.20124208e-02 2.76814110e-04 9.99927810e-01 1.91545707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.740281693 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:168.89, Y:34.48, Z:1.91 [[ 9.27336494e-01 -3.74066929e-01 -1.09981460e-02 1.68888211e+02] [ 3.74035815e-01 9.27401635e-01 -4.83897301e-03 3.44763099e+01] [ 1.20097983e-02 3.73655778e-04 9.99927810e-01 1.91235621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.800281693 meters Centerline goodness : 0.999150 with order 1 Centerline is valid? [True, True] Translation: X:168.94, Y:34.51, Z:1.92 [[ 9.26928105e-01 -3.75077790e-01 -1.09972765e-02 1.68935154e+02] [ 3.75046725e-01 9.26993268e-01 -4.84094816e-03 3.45134106e+01] [ 1.20101334e-02 3.62718373e-04 9.99927810e-01 1.92013407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.860281693 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:168.98, Y:34.55, Z:1.92 [[ 9.25308076e-01 -3.79056764e-01 -1.09970090e-02 1.68982744e+02] [ 3.79025971e-01 9.25373369e-01 -4.84155587e-03 3.45491561e+01] [ 1.20115637e-02 3.11778747e-04 9.99927810e-01 1.92010666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.920281693 meters Centerline goodness : 0.999173 with order 1 Centerline is valid? [True, True] Translation: X:169.03, Y:34.58, Z:1.92 [[ 9.23697363e-01 -3.82965097e-01 -1.09961602e-02 1.69032363e+02] [ 3.82934558e-01 9.23762775e-01 -4.84348289e-03 3.45803764e+01] [ 1.20127283e-02 2.63102651e-04 9.99927810e-01 1.91543494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.980281693 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:169.08, Y:34.61, Z:1.92 [[ 9.19723839e-01 -3.92411965e-01 -1.09958961e-02 1.69083155e+02] [ 3.92382091e-01 9.19789557e-01 -4.84408228e-03 3.46088345e+01] [ 1.20147863e-02 1.40625252e-04 9.99927810e-01 1.91525016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.040281693 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:169.13, Y:34.64, Z:1.92 [[ 9.17029659e-01 -3.98667422e-01 -1.09950580e-02 1.69133534e+02] [ 3.98637973e-01 9.17095569e-01 -4.84598395e-03 3.46364678e+01] [ 1.20154549e-02 6.08633976e-05 9.99927810e-01 1.92286716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.100281693 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:169.18, Y:34.67, Z:1.92 [[ 9.15834853e-01 -4.01404580e-01 -1.09947459e-02 1.69183764e+02] [ 4.01375320e-01 9.15900847e-01 -4.84669174e-03 3.46662413e+01] [ 1.20155814e-02 2.57495444e-05 9.99927810e-01 1.91954437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.160281693 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:169.24, Y:34.69, Z:1.92 [[ 9.14288814e-01 -4.04913683e-01 -1.09942183e-02 1.69235862e+02] [ 4.04884662e-01 9.14354914e-01 -4.84788838e-03 3.46918893e+01] [ 1.20155939e-02 -1.90202389e-05 9.99927810e-01 1.92000853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.220281693 meters Centerline goodness : 0.999365 with order 1 Centerline is valid? [True, True] Translation: X:169.29, Y:34.72, Z:1.91 [[ 9.12305098e-01 -4.09363599e-01 -1.09932803e-02 1.69288611e+02] [ 4.09334874e-01 9.12371327e-01 -4.85001447e-03 3.47152541e+01] [ 1.20153731e-02 -7.52400808e-05 9.99927810e-01 1.91311409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.280281693 meters Centerline goodness : 0.999341 with order 1 Centerline is valid? [True, True] Translation: X:169.34, Y:34.74, Z:1.92 [[ 9.12036051e-01 -4.09962675e-01 -1.09929989e-02 1.69342277e+02] [ 4.09933986e-01 9.12102296e-01 -4.85065232e-03 3.47400838e+01] [ 1.20153259e-02 -8.24340498e-05 9.99927810e-01 1.92323401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.340281693 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:169.40, Y:34.76, Z:1.92 [[ 9.10627478e-01 -4.13082035e-01 -1.09922082e-02 1.69396118e+02] [ 4.13053551e-01 9.10693811e-01 -4.85244339e-03 3.47600575e+01] [ 1.20149932e-02 -1.21602336e-04 9.99927810e-01 1.92497667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.400281693 meters Centerline goodness : 0.999338 with order 1 Centerline is valid? [True, True] Translation: X:169.45, Y:34.78, Z:1.92 [[ 9.07553736e-01 -4.19792086e-01 -1.09918176e-02 1.69453097e+02] [ 4.19764082e-01 9.07620273e-01 -4.85332792e-03 3.47755610e+01] [ 1.20137852e-02 -2.09314354e-04 9.99927810e-01 1.92409546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46028169299998 meters Centerline goodness : 0.999469 with order 1 Centerline is valid? [True, True] Translation: X:169.51, Y:34.79, Z:1.92 [[ 9.05671631e-01 -4.23837344e-01 -1.09910111e-02 1.69509208e+02] [ 4.23809615e-01 9.05738283e-01 -4.85515378e-03 3.47908214e+01] [ 1.20127750e-02 -2.60921140e-04 9.99927810e-01 1.92396533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.520281693 meters Centerline goodness : 0.999365 with order 1 Centerline is valid? [True, True] Translation: X:169.57, Y:34.81, Z:1.92 [[ 9.05234637e-01 -4.24769899e-01 -1.09902044e-02 1.69565268e+02] [ 4.24742216e-01 9.05301309e-01 -4.85697923e-03 3.48076239e+01] [ 1.20125450e-02 -2.71297923e-04 9.99927810e-01 1.92302175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.580281693 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:169.62, Y:34.82, Z:1.92 [[ 9.07883374e-01 -4.19078767e-01 -1.09894010e-02 1.69621774e+02] [ 4.19050644e-01 9.07949861e-01 -4.85879617e-03 3.48237491e+01] [ 1.20140434e-02 -1.93895315e-04 9.99927810e-01 1.92152116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.640281693 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:169.68, Y:34.84, Z:1.92 [[ 9.09446113e-01 -4.15676581e-01 -1.09885023e-02 1.69677059e+02] [ 4.15648186e-01 9.09512484e-01 -4.86082788e-03 3.48413793e+01] [ 1.20147123e-02 -1.46690012e-04 9.99927810e-01 1.92289143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.700281693 meters Centerline goodness : 0.999173 with order 1 Centerline is valid? [True, True] Translation: X:169.73, Y:34.86, Z:1.93 [[ 9.10033161e-01 -4.14389798e-01 -1.09882226e-02 1.69732959e+02] [ 4.14361301e-01 9.10099488e-01 -4.86146002e-03 3.48573734e+01] [ 1.20149152e-02 -1.29004383e-04 9.99927810e-01 1.92509573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.760281693 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:169.79, Y:34.88, Z:1.92 [[ 9.09649604e-01 -4.15231095e-01 -1.09879478e-02 1.69788182e+02] [ 4.15202652e-01 9.09715955e-01 -4.86208106e-03 3.48757812e+01] [ 1.20147987e-02 -1.39434957e-04 9.99927810e-01 1.92397476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.820281693 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:169.84, Y:34.89, Z:1.93 [[ 9.07929130e-01 -4.18979688e-01 -1.09870730e-02 1.69843318e+02] [ 4.18951494e-01 9.07995587e-01 -4.86405714e-03 3.48934444e+01] [ 1.20141549e-02 -1.86831468e-04 9.99927810e-01 1.92922640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.880281693 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:169.90, Y:34.91, Z:1.93 [[ 9.07033036e-01 -4.20916115e-01 -1.09861435e-02 1.69898165e+02] [ 4.20888038e-01 9.07099543e-01 -4.86615560e-03 3.49098946e+01] [ 1.20137690e-02 -2.10172485e-04 9.99927810e-01 1.93064806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.940281693 meters Centerline goodness : 0.999387 with order 1 Centerline is valid? [True, True] Translation: X:169.95, Y:34.93, Z:1.93 [[ 9.07150277e-01 -4.20663391e-01 -1.09857427e-02 1.69952734e+02] [ 4.20635285e-01 9.07216771e-01 -4.86706030e-03 3.49300851e+01] [ 1.20138441e-02 -2.05835906e-04 9.99927810e-01 1.92952988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.000281693 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:170.01, Y:34.95, Z:1.93 [[ 9.08923319e-01 -4.16818584e-01 -1.09848780e-02 1.70005757e+02] [ 4.16790173e-01 9.08989684e-01 -4.86901117e-03 3.49522854e+01] [ 1.20146351e-02 -1.52831389e-04 9.99927810e-01 1.92653838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.060281693 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:170.06, Y:34.98, Z:1.93 [[ 9.11964674e-01 -4.10121655e-01 -1.09846103e-02 1.70058575e+02] [ 4.10092749e-01 9.12030824e-01 -4.86961497e-03 3.49760639e+01] [ 1.20154377e-02 -6.37922086e-05 9.99927810e-01 1.92831669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.120281693 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:170.11, Y:35.00, Z:1.93 [[ 9.13291515e-01 -4.07158402e-01 -1.09837709e-02 1.70111158e+02] [ 4.07129259e-01 9.13357561e-01 -4.87150758e-03 3.50014971e+01] [ 1.20155854e-02 -2.27079655e-05 9.99927810e-01 1.93279355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.180281693 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:170.16, Y:35.03, Z:1.93 [[ 9.13853907e-01 -4.05894584e-01 -1.09828529e-02 1.70161607e+02] [ 4.05865324e-01 9.13919902e-01 -4.87357626e-03 3.50275525e+01] [ 1.20156061e-02 -3.82245961e-06 9.99927810e-01 1.93354986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.240281693 meters Centerline goodness : 0.999322 with order 1 Centerline is valid? [True, True] Translation: X:170.21, Y:35.06, Z:1.93 [[ 9.15050482e-01 -4.03189788e-01 -1.09822288e-02 1.70212787e+02] [ 4.03160317e-01 9.15116383e-01 -4.87498226e-03 3.50555302e+01] [ 1.20155606e-02 3.32560308e-05 9.99927810e-01 1.92645663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.300281693 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:170.26, Y:35.08, Z:1.93 [[ 9.13998117e-01 -4.05569771e-01 -1.09819525e-02 1.70264772e+02] [ 4.05540463e-01 9.14064090e-01 -4.87560457e-03 3.50823113e+01] [ 1.20156063e-02 2.66728962e-06 9.99927810e-01 1.92845227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.360281693 meters Centerline goodness : 0.998937 with order 1 Centerline is valid? [True, True] Translation: X:170.32, Y:35.11, Z:1.93 [[ 9.13443929e-01 -4.06816427e-01 -1.09810829e-02 1.70317027e+02] [ 4.06787186e-01 9.13509931e-01 -4.87756232e-03 3.51077206e+01] [ 1.20156008e-02 -1.15841275e-05 9.99927810e-01 1.93079767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.420281693 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:170.37, Y:35.13, Z:1.93 [[ 9.13581221e-01 -4.06508041e-01 -1.09801997e-02 1.70369370e+02] [ 4.06478754e-01 9.13647203e-01 -4.87954975e-03 3.51299856e+01] [ 1.20156050e-02 -5.35288905e-06 9.99927810e-01 1.93230635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.480281693 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:170.42, Y:35.15, Z:1.93 [[ 9.13739119e-01 -4.06153013e-01 -1.09796000e-02 1.70422462e+02] [ 4.06123684e-01 9.13805083e-01 -4.88089872e-03 3.51519786e+01] [ 1.20156061e-02 7.92475519e-07 9.99927810e-01 1.93065306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.540281693 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:170.48, Y:35.17, Z:1.93 [[ 9.15052355e-01 -4.03185620e-01 -1.09792228e-02 1.70476691e+02] [ 4.03156067e-01 9.15118219e-01 -4.88174721e-03 3.51722498e+01] [ 1.20155371e-02 4.07140041e-05 9.99927810e-01 1.93111562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.600281693 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:170.53, Y:35.19, Z:1.94 [[ 9.16852654e-01 -3.99074789e-01 -1.09783182e-02 1.70530204e+02] [ 3.99044916e-01 9.16918373e-01 -4.88378063e-03 3.51936479e+01] [ 1.20152154e-02 9.68651644e-05 9.99927810e-01 1.93667358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.660281693 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:170.58, Y:35.22, Z:1.94 [[ 9.17577045e-01 -3.97406421e-01 -1.09773964e-02 1.70582869e+02] [ 3.97376404e-01 9.17642698e-01 -4.88585166e-03 3.52159399e+01] [ 1.20149965e-02 1.20987018e-04 9.99927810e-01 1.93730241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.720281693 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:170.64, Y:35.24, Z:1.94 [[ 9.18718053e-01 -3.94761504e-01 -1.09769973e-02 1.70635919e+02] [ 3.94731287e-01 9.18783615e-01 -4.88674808e-03 3.52403967e+01] [ 1.20145853e-02 1.56579388e-04 9.99927810e-01 1.93738064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.780281693 meters Centerline goodness : 0.999090 with order 1 Centerline is valid? [True, True] Translation: X:170.69, Y:35.27, Z:1.94 [[ 9.19691597e-01 -3.92488078e-01 -1.09760757e-02 1.70686098e+02] [ 3.92457675e-01 9.19757073e-01 -4.88881735e-03 3.52670208e+01] [ 1.20141258e-02 1.88559095e-04 9.99927810e-01 1.93857421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.840281693 meters Centerline goodness : 0.999388 with order 1 Centerline is valid? [True, True] Translation: X:170.74, Y:35.29, Z:1.94 [[ 9.19889934e-01 -3.92023021e-01 -1.09754521e-02 1.70737074e+02] [ 3.91992568e-01 9.19955386e-01 -4.89021683e-03 3.52924170e+01] [ 1.20140039e-02 1.96165568e-04 9.99927810e-01 1.93872395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.900281693 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:170.79, Y:35.32, Z:1.94 [[ 9.19640501e-01 -3.92607816e-01 -1.09750677e-02 1.70787939e+02] [ 3.92577394e-01 9.19705968e-01 -4.89107955e-03 3.53198387e+01] [ 1.20141113e-02 1.89471394e-04 9.99927810e-01 1.93735315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96028169299998 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:170.84, Y:35.35, Z:1.94 [[ 9.19078057e-01 -3.93922699e-01 -1.09741908e-02 1.70838616e+02] [ 3.93892347e-01 9.19143556e-01 -4.89304612e-03 3.53476523e+01] [ 1.20143387e-02 1.74441537e-04 9.99927810e-01 1.93832344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.020281693 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:170.89, Y:35.37, Z:1.94 [[ 9.18333803e-01 -3.95654663e-01 -1.09733036e-02 1.70890368e+02] [ 3.95624411e-01 9.18399349e-01 -4.89503510e-03 3.53746555e+01] [ 1.20146183e-02 1.53969442e-04 9.99927810e-01 1.93754359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.080281693 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:170.94, Y:35.40, Z:1.94 [[ 9.16561690e-01 -3.99742762e-01 -1.09723983e-02 1.70941415e+02] [ 3.99712778e-01 9.16627358e-01 -4.89706350e-03 3.54021601e+01] [ 1.20151661e-02 1.02653001e-04 9.99927810e-01 1.93773403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.140281693 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:170.99, Y:35.43, Z:1.94 [[ 9.14724146e-01 -4.03929899e-01 -1.09714937e-02 1.70991082e+02] [ 4.03900191e-01 9.14789940e-01 -4.89908930e-03 3.54313203e+01] [ 1.20155007e-02 4.99268685e-05 9.99927810e-01 1.94220549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.200281693 meters Centerline goodness : 0.999023 with order 1 Centerline is valid? [True, True] Translation: X:171.04, Y:35.46, Z:1.94 [[ 9.13913041e-01 -4.05761739e-01 -1.09711005e-02 1.71040741e+02] [ 4.05732153e-01 9.13978890e-01 -4.89996960e-03 3.54612704e+01] [ 1.20155745e-02 2.68178767e-05 9.99927810e-01 1.94292374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.260281693 meters Centerline goodness : 0.998982 with order 1 Centerline is valid? [True, True] Translation: X:171.09, Y:35.49, Z:1.95 [[ 9.13736960e-01 -4.06158125e-01 -1.09702210e-02 1.71091616e+02] [ 4.06128544e-01 9.13802811e-01 -4.90193789e-03 3.54893955e+01] [ 1.20155807e-02 2.37619421e-05 9.99927810e-01 1.94692939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.320281693 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:171.14, Y:35.52, Z:1.94 [[ 9.13328339e-01 -4.07076184e-01 -1.09693460e-02 1.71142522e+02] [ 4.07046645e-01 9.13394209e-01 -4.90389522e-03 3.55181920e+01] [ 1.20155961e-02 1.38309839e-05 9.99927810e-01 1.94287461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.380281693 meters Centerline goodness : 0.999023 with order 1 Centerline is valid? [True, True] Translation: X:171.19, Y:35.55, Z:1.95 [[ 9.13555183e-01 -4.06566871e-01 -1.09684735e-02 1.71192553e+02] [ 4.06537273e-01 9.13621026e-01 -4.90584600e-03 3.55480069e+01] [ 1.20155824e-02 2.26677496e-05 9.99927810e-01 1.94552337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.440281693 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:171.24, Y:35.58, Z:1.95 [[ 9.15423948e-01 -4.02341532e-01 -1.09675408e-02 1.71241007e+02] [ 4.02311604e-01 9.15489642e-01 -4.90793020e-03 3.55784899e+01] [ 1.20153342e-02 8.04679100e-05 9.99927810e-01 1.94699509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.500281693 meters Centerline goodness : 0.999260 with order 1 Centerline is valid? [True, True] Translation: X:171.29, Y:35.61, Z:1.95 [[ 9.17261124e-01 -3.98135343e-01 -1.09671438e-02 1.71290559e+02] [ 3.98105104e-01 9.17326676e-01 -4.90881712e-03 3.56107814e+01] [ 1.20148272e-02 1.36591182e-04 9.99927810e-01 1.94935331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.560281693 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:171.34, Y:35.65, Z:1.95 [[ 9.18015860e-01 -3.96392005e-01 -1.09663006e-02 1.71338179e+02] [ 3.96361619e-01 9.18081343e-01 -4.91070010e-03 3.56456332e+01] [ 1.20145183e-02 1.61479907e-04 9.99927810e-01 1.94761500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.620281693 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:171.39, Y:35.68, Z:1.95 [[ 9.17913400e-01 -3.96629235e-01 -1.09654018e-02 1.71387230e+02] [ 3.96598841e-01 9.17978880e-01 -4.91270629e-03 3.56752214e+01] [ 1.20145302e-02 1.60573281e-04 9.99927810e-01 1.94554885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.680281693 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:171.43, Y:35.71, Z:1.94 [[ 9.16181440e-01 -4.00613708e-01 -1.09647905e-02 1.71434518e+02] [ 4.00583583e-01 9.16247044e-01 -4.91407037e-03 3.57109328e+01] [ 1.20151008e-02 1.09865015e-04 9.99927810e-01 1.94473311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.740281693 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:171.48, Y:35.74, Z:1.94 [[ 9.13429158e-01 -4.06850054e-01 -1.09638726e-02 1.71484279e+02] [ 4.06820353e-01 9.13494955e-01 -4.91611741e-03 3.57397163e+01] [ 1.20155649e-02 3.01984689e-05 9.99927810e-01 1.94362887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.800281693 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:171.53, Y:35.77, Z:1.95 [[ 9.09476405e-01 -4.15610962e-01 -1.09634768e-02 1.71534331e+02] [ 4.15581884e-01 9.09542479e-01 -4.91699989e-03 3.57694536e+01] [ 1.20153069e-02 -8.43269614e-05 9.99927810e-01 1.94545007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.860281693 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:171.59, Y:35.79, Z:1.95 [[ 9.07120472e-01 -4.20728262e-01 -1.09625883e-02 1.71585753e+02] [ 4.20699533e-01 9.07186699e-01 -4.91898008e-03 3.57935767e+01] [ 1.20146682e-02 -1.49848241e-04 9.99927810e-01 1.94571616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.920281693 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:171.64, Y:35.82, Z:1.95 [[ 9.05373521e-01 -4.24474525e-01 -1.09619898e-02 1.71637606e+02] [ 4.24446053e-01 9.05439859e-01 -4.92031344e-03 3.58189137e+01] [ 1.20139702e-02 -1.98051807e-04 9.99927810e-01 1.94793212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.980281693 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:171.69, Y:35.84, Z:1.95 [[ 9.04964813e-01 -4.25345201e-01 -1.09611364e-02 1.71690769e+02] [ 4.25316770e-01 9.05031169e-01 -4.92221395e-03 3.58432407e+01] [ 1.20138101e-02 -2.07524687e-04 9.99927810e-01 1.94710406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.040281693 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:171.74, Y:35.87, Z:1.95 [[ 9.04106101e-01 -4.27167450e-01 -1.09602530e-02 1.71743665e+02] [ 4.27139129e-01 9.04172504e-01 -4.92418015e-03 3.58652845e+01] [ 1.20134089e-02 -2.29571605e-04 9.99927810e-01 1.94667712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.100281693 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:171.80, Y:35.89, Z:1.95 [[ 9.03499166e-01 -4.28449692e-01 -1.09598711e-02 1.71797668e+02] [ 4.28421455e-01 9.03565604e-01 -4.92503001e-03 3.58872929e+01] [ 1.20130901e-02 -2.45683418e-04 9.99927810e-01 1.95133311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.160281693 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:171.85, Y:35.91, Z:1.95 [[ 9.02661441e-01 -4.30211820e-01 -1.09595922e-02 1.71850117e+02] [ 4.30183705e-01 9.02727931e-01 -4.92565048e-03 3.59088682e+01] [ 1.20126031e-02 -2.68443240e-04 9.99927810e-01 1.95351640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.220281693 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:171.90, Y:35.93, Z:1.95 [[ 9.00801283e-01 -4.34093245e-01 -1.09592059e-02 1.71904995e+02] [ 4.34065406e-01 9.00867889e-01 -4.92650997e-03 3.59291737e+01] [ 1.20113614e-02 -3.19205645e-04 9.99927810e-01 1.95369931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.280281693 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:171.96, Y:35.95, Z:1.95 [[ 9.00045732e-01 -4.35657660e-01 -1.09583075e-02 1.71961663e+02] [ 4.35629912e-01 9.00112376e-01 -4.92850756e-03 3.59475578e+01] [ 1.20108502e-02 -3.37884324e-04 9.99927810e-01 1.94880406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.340281693 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:172.02, Y:35.97, Z:1.95 [[ 9.00814311e-01 -4.34066250e-01 -1.09575200e-02 1.72015107e+02] [ 4.34038363e-01 9.00880898e-01 -4.93025771e-03 3.59699484e+01] [ 1.20114789e-02 -3.14737340e-04 9.99927810e-01 1.95185726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.400281693 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:172.07, Y:35.99, Z:1.96 [[ 9.01703814e-01 -4.32215437e-01 -1.09566270e-02 1.72069293e+02] [ 4.32187390e-01 9.01770333e-01 -4.93224149e-03 3.59926424e+01] [ 1.20121521e-02 -2.87895040e-04 9.99927810e-01 1.95773536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46028169299998 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:172.12, Y:36.02, Z:1.96 [[ 9.01504212e-01 -4.32631627e-01 -1.09558504e-02 1.72122012e+02] [ 4.32603590e-01 9.01570735e-01 -4.93396583e-03 3.60154742e+01] [ 1.20120638e-02 -2.91549238e-04 9.99927810e-01 1.96069370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.520281693 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:172.18, Y:36.04, Z:1.96 [[ 9.00806362e-01 -4.34082798e-01 -1.09554658e-02 1.72176013e+02] [ 4.34054857e-01 9.00872926e-01 -4.93481968e-03 3.60377274e+01] [ 1.20116029e-02 -3.09956172e-04 9.99927810e-01 1.96207657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.580281693 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:172.23, Y:36.06, Z:1.96 [[ 9.01306904e-01 -4.33042565e-01 -1.09545300e-02 1.72229175e+02] [ 4.33014522e-01 9.01373425e-01 -4.93689610e-03 3.60588623e+01] [ 1.20120084e-02 -2.93812036e-04 9.99927810e-01 1.96350357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.640281693 meters Centerline goodness : 0.998863 with order 1 Centerline is valid? [True, True] Translation: X:172.28, Y:36.08, Z:1.96 [[ 9.02673955e-01 -4.30185701e-01 -1.09541257e-02 1.72282356e+02] [ 4.30157437e-01 9.02740382e-01 -4.93779311e-03 3.60821149e+01] [ 1.20128996e-02 -2.54781383e-04 9.99927810e-01 1.96405077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.700281693 meters Centerline goodness : 0.998784 with order 1 Centerline is valid? [True, True] Translation: X:172.33, Y:36.11, Z:1.96 [[ 9.06203340e-01 -4.22700286e-01 -1.09532720e-02 1.72334775e+02] [ 4.22671450e-01 9.06269521e-01 -4.93968599e-03 3.61067754e+01] [ 1.20146233e-02 -1.53275429e-04 9.99927810e-01 1.96112423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.760281693 meters Centerline goodness : 0.998892 with order 1 Centerline is valid? [True, True] Translation: X:172.39, Y:36.13, Z:1.96 [[ 9.09909474e-01 -4.14662266e-01 -1.09523593e-02 1.72385514e+02] [ 4.14632821e-01 9.09975386e-01 -4.94170890e-03 3.61330790e+01] [ 1.20155176e-02 -4.46998780e-05 9.99927810e-01 1.96079059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.820281693 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:172.44, Y:36.16, Z:1.96 [[ 9.11317827e-01 -4.11557861e-01 -1.09519612e-02 1.72435617e+02] [ 4.11528181e-01 9.11383633e-01 -4.94259100e-03 3.61615618e+01] [ 1.20156004e-02 -2.76938694e-06 9.99927810e-01 1.95950009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.880281693 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:172.49, Y:36.19, Z:1.96 [[ 9.12152169e-01 -4.09705363e-01 -1.09515697e-02 1.72485925e+02] [ 4.09675539e-01 9.12217910e-01 -4.94345828e-03 3.61900420e+01] [ 1.20155794e-02 2.25959748e-05 9.99927810e-01 1.96132433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.940281693 meters Centerline goodness : 0.998837 with order 1 Centerline is valid? [True, True] Translation: X:172.54, Y:36.22, Z:1.97 [[ 9.13467744e-01 -4.06763767e-01 -1.09507423e-02 1.72535478e+02] [ 4.06733709e-01 9.13533379e-01 -4.94529053e-03 3.62205671e+01] [ 1.20154336e-02 6.33273573e-05 9.99927810e-01 1.96652673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.000281693 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:172.58, Y:36.25, Z:1.96 [[ 9.14025811e-01 -4.05508221e-01 -1.09498519e-02 1.72584694e+02] [ 4.05478050e-01 9.14091394e-01 -4.94726116e-03 3.62504031e+01] [ 1.20153205e-02 8.19997942e-05 9.99927810e-01 1.96368233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.060281693 meters Centerline goodness : 0.999195 with order 1 Centerline is valid? [True, True] Translation: X:172.64, Y:36.28, Z:1.96 [[ 9.13224857e-01 -4.07308814e-01 -1.09494659e-02 1.72636302e+02] [ 4.07278761e-01 9.13290494e-01 -4.94811528e-03 3.62752901e+01] [ 1.20154541e-02 5.92569416e-05 9.99927810e-01 1.96343578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.120281693 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:172.69, Y:36.30, Z:1.97 [[ 9.12013180e-01 -4.10014728e-01 -1.09490857e-02 1.72688658e+02] [ 4.09984860e-01 9.12078901e-01 -4.94895648e-03 3.63010589e+01] [ 1.20155751e-02 2.45541533e-05 9.99927810e-01 1.96620368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.180281693 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:172.74, Y:36.33, Z:1.97 [[ 9.11944231e-01 -4.10168083e-01 -1.09482237e-02 1.72740572e+02] [ 4.10138203e-01 9.12009947e-01 -4.95086264e-03 3.63268690e+01] [ 1.20155748e-02 2.46258056e-05 9.99927810e-01 1.96993026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.240281693 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:172.79, Y:36.35, Z:1.97 [[ 9.10952198e-01 -4.12366644e-01 -1.09473693e-02 1.72791313e+02] [ 4.12336900e-01 9.11017975e-01 -4.95275138e-03 3.63526057e+01] [ 1.20155996e-02 -2.28455139e-06 9.99927810e-01 1.97381572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.300281693 meters Centerline goodness : 0.999258 with order 1 Centerline is valid? [True, True] Translation: X:172.84, Y:36.38, Z:1.97 [[ 9.10280252e-01 -4.13847830e-01 -1.09469991e-02 1.72844094e+02] [ 4.13818183e-01 9.10346074e-01 -4.95356931e-03 3.63761736e+01] [ 1.20155816e-02 -2.09309730e-05 9.99927810e-01 1.97316856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.360281693 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:172.90, Y:36.40, Z:1.97 [[ 9.08871102e-01 -4.16933451e-01 -1.09461559e-02 1.72897748e+02] [ 4.16904005e-01 9.08937013e-01 -4.95543204e-03 3.63986870e+01] [ 1.20154516e-02 -5.96472466e-05 9.99927810e-01 1.97215953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.420281693 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:172.95, Y:36.42, Z:1.98 [[ 9.06664334e-01 -4.21710784e-01 -1.09453191e-02 1.72950195e+02] [ 4.21681664e-01 9.06730390e-01 -4.95727961e-03 3.64202267e+01] [ 1.20149917e-02 -1.20851741e-04 9.99927810e-01 1.97509473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.480281693 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:173.00, Y:36.44, Z:1.97 [[ 9.04723627e-01 -4.25858393e-01 -1.09447517e-02 1.73004231e+02] [ 4.25829560e-01 9.04789809e-01 -4.95853201e-03 3.64415039e+01] [ 1.20143322e-02 -1.74497729e-04 9.99927810e-01 1.97255090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.540281693 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:173.06, Y:36.46, Z:1.97 [[ 9.03478110e-01 -4.28494501e-01 -1.09438580e-02 1.73058572e+02] [ 4.28465837e-01 9.03544365e-01 -4.96050371e-03 3.64605329e+01] [ 1.20138098e-02 -2.07362748e-04 9.99927810e-01 1.97094013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.600281693 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:173.11, Y:36.48, Z:1.97 [[ 9.03210548e-01 -4.29058209e-01 -1.09434701e-02 1.73111609e+02] [ 4.29029576e-01 9.03276817e-01 -4.96135931e-03 3.64818598e+01] [ 1.20136947e-02 -2.13920258e-04 9.99927810e-01 1.97318085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.660281693 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:173.16, Y:36.50, Z:1.98 [[ 9.03972611e-01 -4.27450311e-01 -1.09430873e-02 1.73164850e+02] [ 4.27421550e-01 9.04038824e-01 -4.96220332e-03 3.65039063e+01] [ 1.20140712e-02 -1.91615464e-04 9.99927810e-01 1.97503360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.720281693 meters Centerline goodness : 0.998949 with order 1 Centerline is valid? [True, True] Translation: X:173.22, Y:36.53, Z:1.97 [[ 9.04983727e-01 -4.25305444e-01 -1.09422674e-02 1.73218277e+02] [ 4.25276505e-01 9.05049862e-01 -4.96401078e-03 3.65295511e+01] [ 1.20145184e-02 -1.61140254e-04 9.99927810e-01 1.96881413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.780281693 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:173.27, Y:36.56, Z:1.97 [[ 9.05608399e-01 -4.23973715e-01 -1.09415497e-02 1.73270649e+02] [ 4.23944659e-01 9.05674483e-01 -4.96559208e-03 3.65553670e+01] [ 1.20147629e-02 -1.41729681e-04 9.99927810e-01 1.97390907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.840281693 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:173.32, Y:36.58, Z:1.98 [[ 9.06187852e-01 -4.22733815e-01 -1.09406892e-02 1.73323419e+02] [ 4.22704646e-01 9.06253886e-01 -4.96748747e-03 3.65798966e+01] [ 1.20149670e-02 -1.23203334e-04 9.99927810e-01 1.97538814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.900281693 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:173.38, Y:36.60, Z:1.97 [[ 9.05532980e-01 -4.24134817e-01 -1.09398197e-02 1.73376479e+02] [ 4.24105727e-01 9.05599049e-01 -4.96940142e-03 3.66027404e+01] [ 1.20147865e-02 -1.39683331e-04 9.99927810e-01 1.97462623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96028169299998 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:173.43, Y:36.63, Z:1.98 [[ 9.05196585e-01 -4.24852306e-01 -1.09389452e-02 1.73429030e+02] [ 4.24823245e-01 9.05262667e-01 -4.97132589e-03 3.66268963e+01] [ 1.20146979e-02 -1.47090956e-04 9.99927810e-01 1.97606105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.020281693 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:173.48, Y:36.65, Z:1.98 [[ 9.04803246e-01 -4.25689360e-01 -1.09386744e-02 1.73482259e+02] [ 4.25660352e-01 9.04869352e-01 -4.97192166e-03 3.66489602e+01] [ 1.20145653e-02 -1.57549125e-04 9.99927810e-01 1.97590665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.080281693 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:173.54, Y:36.67, Z:1.98 [[ 9.05727838e-01 -4.23718595e-01 -1.09377989e-02 1.73538183e+02] [ 4.23689421e-01 9.05793870e-01 -4.97384681e-03 3.66663320e+01] [ 1.20149026e-02 -1.29278167e-04 9.99927810e-01 1.97818485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.140281693 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:173.59, Y:36.68, Z:1.98 [[ 9.06832542e-01 -4.21349173e-01 -1.09369069e-02 1.73593878e+02] [ 4.21319802e-01 9.06898487e-01 -4.97580745e-03 3.66836929e+01] [ 1.20152167e-02 -9.57113432e-05 9.99927810e-01 1.98184165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.200281693 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:173.65, Y:36.70, Z:1.98 [[ 9.08843315e-01 -4.16994270e-01 -1.09365090e-02 1.73648366e+02] [ 4.16964573e-01 9.08909114e-01 -4.97668189e-03 3.67008766e+01] [ 1.20155405e-02 -3.71127356e-05 9.99927810e-01 1.98406471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.260281693 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:173.71, Y:36.72, Z:1.98 [[ 9.09669381e-01 -4.15189134e-01 -1.09361392e-02 1.73705236e+02] [ 4.15159297e-01 9.09735117e-01 -4.97749437e-03 3.67162156e+01] [ 1.20155915e-02 -1.23656429e-05 9.99927810e-01 1.98132645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.320281693 meters Centerline goodness : 0.999151 with order 1 Centerline is valid? [True, True] Translation: X:173.76, Y:36.73, Z:1.98 [[ 9.09705144e-01 -4.15110794e-01 -1.09352365e-02 1.73760977e+02] [ 4.15080927e-01 9.09770866e-01 -4.97947677e-03 3.67324859e+01] [ 1.20155941e-02 -9.15247422e-06 9.99927810e-01 1.98071695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.380281693 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:173.81, Y:36.75, Z:1.98 [[ 9.10384420e-01 -4.13618965e-01 -1.09343426e-02 1.73814830e+02] [ 4.13588967e-01 9.10450082e-01 -4.98143893e-03 3.67516611e+01] [ 1.20155907e-02 1.27009355e-05 9.99927810e-01 1.98159310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.440281693 meters Centerline goodness : 0.999232 with order 1 Centerline is valid? [True, True] Translation: X:173.87, Y:36.77, Z:1.98 [[ 9.12136310e-01 -4.09741145e-01 -1.09337365e-02 1.73870501e+02] [ 4.09710852e-01 9.12201836e-01 -4.98276886e-03 3.67699988e+01] [ 1.20154199e-02 6.52938965e-05 9.99927810e-01 1.97997972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.500281693 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:173.92, Y:36.79, Z:1.98 [[ 9.14119973e-01 -4.05296370e-01 -1.09328562e-02 1.73923605e+02] [ 4.05265736e-01 9.14185340e-01 -4.98469963e-03 3.67917382e+01] [ 1.20149375e-02 1.25901480e-04 9.99927810e-01 1.98454634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.560281693 meters Centerline goodness : 0.999427 with order 1 Centerline is valid? [True, True] Translation: X:173.98, Y:36.81, Z:1.99 [[ 9.15545162e-01 -4.02066581e-01 -1.09325836e-02 1.73977407e+02] [ 4.02035708e-01 9.15610417e-01 -4.98529737e-03 3.68143573e+01] [ 1.20144089e-02 1.68975885e-04 9.99927810e-01 1.98739597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.620281693 meters Centerline goodness : 0.999450 with order 1 Centerline is valid? [True, True] Translation: X:174.03, Y:36.84, Z:1.99 [[ 9.16953658e-01 -3.98843941e-01 -1.09316280e-02 1.74029676e+02] [ 3.98812814e-01 9.17018792e-01 -4.98739184e-03 3.68385610e+01] [ 1.20136994e-02 2.13533843e-04 9.99927810e-01 1.98996146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.680281693 meters Centerline goodness : 0.999345 with order 1 Centerline is valid? [True, True] Translation: X:174.08, Y:36.86, Z:1.99 [[ 9.17123471e-01 -3.98453315e-01 -1.09313328e-02 1.74082549e+02] [ 3.98422153e-01 9.17188589e-01 -4.98803891e-03 3.68616232e+01] [ 1.20135943e-02 2.19362416e-04 9.99927810e-01 1.99428530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.740281693 meters Centerline goodness : 0.999325 with order 1 Centerline is valid? [True, True] Translation: X:174.13, Y:36.89, Z:1.99 [[ 9.19211561e-01 -3.93612286e-01 -1.09304357e-02 1.74134587e+02] [ 3.93580758e-01 9.19276502e-01 -4.99000405e-03 3.68863612e+01] [ 1.20122196e-02 2.84860266e-04 9.99927810e-01 1.98651269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.800281693 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:174.19, Y:36.91, Z:1.99 [[ 9.21621639e-01 -3.87935677e-01 -1.09300190e-02 1.74186091e+02] [ 3.87903738e-01 9.21686379e-01 -4.99091653e-03 3.69124734e+01] [ 1.20102042e-02 3.59941446e-04 9.99927810e-01 1.98909012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.860281693 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:174.24, Y:36.94, Z:1.99 [[ 9.22283856e-01 -3.86358695e-01 -1.09291864e-02 1.74239446e+02] [ 3.86326624e-01 9.22348531e-01 -4.99273908e-03 3.69351659e+01] [ 1.20095072e-02 3.82486963e-04 9.99927810e-01 1.98726855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.920281693 meters Centerline goodness : 0.999408 with order 1 Centerline is valid? [True, True] Translation: X:174.30, Y:36.95, Z:1.99 [[ 9.22359203e-01 -3.86178807e-01 -1.09283539e-02 1.74295414e+02] [ 3.86146701e-01 9.22423861e-01 -4.99456069e-03 3.69547362e+01] [ 1.20093679e-02 3.86831216e-04 9.99927810e-01 1.99021367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.980281693 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:174.35, Y:36.98, Z:2.00 [[ 9.22654346e-01 -3.85473145e-01 -1.09275698e-02 1.74348645e+02] [ 3.85440970e-01 9.22718969e-01 -4.99627566e-03 3.69782460e+01] [ 1.20090060e-02 3.97902370e-04 9.99927810e-01 1.99779346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.040281693 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:174.40, Y:37.00, Z:1.99 [[ 9.24014537e-01 -3.82201183e-01 -1.09266780e-02 1.74402104e+02] [ 3.82168755e-01 9.24079034e-01 -4.99822507e-03 3.70000456e+01] [ 1.20074416e-02 4.42597671e-04 9.99927810e-01 1.99032383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.100281693 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:174.45, Y:37.02, Z:1.99 [[ 9.25297341e-01 -3.79085027e-01 -1.09257555e-02 1.74454762e+02] [ 3.79052359e-01 9.25361717e-01 -5.00024096e-03 3.70232631e+01] [ 1.20057923e-02 4.85276288e-04 9.99927810e-01 1.98806478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.160281693 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:174.51, Y:37.05, Z:2.00 [[ 9.26877863e-01 -3.75204043e-01 -1.09248379e-02 1.74507336e+02] [ 3.75171082e-01 9.26942089e-01 -5.00224498e-03 3.70477654e+01] [ 1.20035546e-02 5.37786896e-04 9.99927810e-01 1.99561552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.220281693 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:174.56, Y:37.07, Z:2.00 [[ 9.27330887e-01 -3.74082987e-01 -1.09245558e-02 1.74559209e+02] [ 3.74049941e-01 9.27395069e-01 -5.00286084e-03 3.70735447e+01] [ 1.20028643e-02 5.52977919e-04 9.99927810e-01 1.99948972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.280281693 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:174.61, Y:37.10, Z:2.00 [[ 9.27222927e-01 -3.74350527e-01 -1.09236606e-02 1.74609645e+02] [ 3.74317477e-01 9.27287107e-01 -5.00481470e-03 3.71009208e+01] [ 1.20029247e-02 5.51661846e-04 9.99927810e-01 1.99676275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.340281693 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:174.66, Y:37.13, Z:2.00 [[ 9.26578745e-01 -3.75942165e-01 -1.09232742e-02 1.74661552e+02] [ 3.75909215e-01 9.26642976e-01 -5.00565788e-03 3.71279140e+01] [ 1.20038132e-02 5.31976755e-04 9.99927810e-01 1.99609908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.400281693 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:174.71, Y:37.15, Z:2.00 [[ 9.24990963e-01 -3.79832096e-01 -1.09223496e-02 1.74712875e+02] [ 3.79799392e-01 9.25055320e-01 -5.00767460e-03 3.71529419e+01] [ 1.20058532e-02 4.83752007e-04 9.99927810e-01 1.99999303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46028169299998 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:174.77, Y:37.17, Z:2.00 [[ 9.22903371e-01 -3.84876706e-01 -1.09219496e-02 1.74766055e+02] [ 3.84844344e-01 9.22967901e-01 -5.00854685e-03 3.71747926e+01] [ 1.20082819e-02 4.19154230e-04 9.99927810e-01 1.99981744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.520281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:174.82, Y:37.20, Z:2.00 [[ 9.20718276e-01 -3.90075091e-01 -1.09215631e-02 1.74819127e+02] [ 3.90043083e-01 9.20782982e-01 -5.00938946e-03 3.71952722e+01] [ 1.20104275e-02 3.52356268e-04 9.99927810e-01 2.00280155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.580281693 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:174.87, Y:37.22, Z:2.00 [[ 9.20755410e-01 -3.89987439e-01 -1.09211881e-02 1.74873563e+02] [ 3.89955415e-01 9.20820108e-01 -5.01020700e-03 3.72150141e+01] [ 1.20103674e-02 3.54398768e-04 9.99927810e-01 2.00251341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.640281693 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:174.93, Y:37.24, Z:2.00 [[ 9.21587159e-01 -3.88017857e-01 -1.09202192e-02 1.74925872e+02] [ 3.87985670e-01 9.21651776e-01 -5.01231790e-03 3.72385534e+01] [ 1.20095083e-02 3.82399242e-04 9.99927810e-01 2.00152579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.700281693 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:174.98, Y:37.26, Z:2.00 [[ 9.22668552e-01 -3.85439361e-01 -1.09197989e-02 1.74978199e+02] [ 3.85406983e-01 9.22733073e-01 -5.01323330e-03 3.72644138e+01] [ 1.20083571e-02 4.16985943e-04 9.99927810e-01 2.00471977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.760281693 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:175.03, Y:37.29, Z:2.01 [[ 9.22644248e-01 -3.85497558e-01 -1.09189601e-02 1.75030500e+02] [ 3.85465163e-01 9.22708761e-01 -5.01505969e-03 3.72897419e+01] [ 1.20083134e-02 4.18237255e-04 9.99927810e-01 2.00717795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.820281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:175.08, Y:37.32, Z:2.01 [[ 9.21848043e-01 -3.87397702e-01 -1.09181265e-02 1.75080475e+02] [ 3.87365418e-01 9.21912612e-01 -5.01687382e-03 3.73188377e+01] [ 1.20090839e-02 3.95490683e-04 9.99927810e-01 2.00594179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.880281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:175.13, Y:37.35, Z:2.00 [[ 9.21544449e-01 -3.88119368e-01 -1.09171832e-02 1.75128834e+02] [ 3.88087110e-01 9.21609031e-01 -5.01892577e-03 3.73495944e+01] [ 1.20093169e-02 3.88345122e-04 9.99927810e-01 2.00271038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.940281693 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:175.18, Y:37.38, Z:2.00 [[ 9.21469045e-01 -3.88298369e-01 -1.09167739e-02 1.75177560e+02] [ 3.88266113e-01 9.21533628e-01 -5.01981574e-03 3.73814105e+01] [ 1.20093605e-02 3.86991436e-04 9.99927810e-01 2.00359216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.000281693 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:175.22, Y:37.42, Z:2.00 [[ 9.20828150e-01 -3.89815805e-01 -1.09158331e-02 1.75224208e+02] [ 3.89783631e-01 9.20892774e-01 -5.02186076e-03 3.74178987e+01] [ 1.20099125e-02 3.69457689e-04 9.99927810e-01 2.00386047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.060281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:175.27, Y:37.46, Z:2.00 [[ 9.18208738e-01 -3.95946435e-01 -1.09148988e-02 1.75270797e+02] [ 3.95914669e-01 9.18273563e-01 -5.02389075e-03 3.74559769e+01] [ 1.20120546e-02 2.91611862e-04 9.99927810e-01 2.00375348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.120281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:175.32, Y:37.49, Z:2.01 [[ 9.13912554e-01 -4.05764377e-01 -1.09139645e-02 1.75319932e+02] [ 4.05733283e-01 9.13977704e-01 -5.02591943e-03 3.74865512e+01] [ 1.20144593e-02 1.65092193e-04 9.99927810e-01 2.00528449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.180281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:175.37, Y:37.52, Z:2.01 [[ 9.10488170e-01 -4.13391082e-01 -1.09135580e-02 1.75369680e+02] [ 4.13360524e-01 9.10553573e-01 -5.02680201e-03 3.75150025e+01] [ 1.20154144e-02 6.56097025e-05 9.99927810e-01 2.01108107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.240281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:175.42, Y:37.54, Z:2.01 [[ 9.07726567e-01 -4.19420294e-01 -1.09131573e-02 1.75422398e+02] [ 4.19390159e-01 9.07792166e-01 -5.02767181e-03 3.75393715e+01] [ 1.20155863e-02 -1.31195147e-05 9.99927810e-01 2.01167711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.300281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:175.48, Y:37.56, Z:2.01 [[ 9.06018234e-01 -4.23097959e-01 -1.09122479e-02 1.75475282e+02] [ 4.23068067e-01 9.06083944e-01 -5.02964491e-03 3.75624327e+01] [ 1.20154451e-02 -5.96736118e-05 9.99927810e-01 2.01149748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.360281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:175.53, Y:37.58, Z:2.01 [[ 9.04021951e-01 -4.27346762e-01 -1.09113404e-02 1.75528479e+02] [ 4.27317155e-01 9.04087790e-01 -5.03161276e-03 3.75832354e+01] [ 1.20150531e-02 -1.13914567e-04 9.99927810e-01 2.01214780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.420281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:175.58, Y:37.61, Z:2.01 [[ 9.00802474e-01 -4.34091988e-01 -1.09109495e-02 1.75582096e+02] [ 4.34062863e-01 9.00868528e-01 -5.03246026e-03 3.76055269e+01] [ 1.20138817e-02 -2.02785338e-04 9.99927810e-01 2.01287661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.480281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:175.64, Y:37.63, Z:2.01 [[ 8.98157880e-01 -4.39537704e-01 -1.09100594e-02 1.75635345e+02] [ 4.39508957e-01 8.98224099e-01 -5.03438936e-03 3.76259467e+01] [ 1.20124822e-02 -2.73392330e-04 9.99927810e-01 2.00854119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.540281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:175.69, Y:37.65, Z:2.01 [[ 8.95745678e-01 -4.44432963e-01 -1.09096769e-02 1.75690213e+02] [ 4.44404567e-01 8.95812049e-01 -5.03521802e-03 3.76461780e+01] [ 1.20108369e-02 -3.38035461e-04 9.99927810e-01 2.00818343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.600281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:175.75, Y:37.66, Z:2.01 [[ 8.94902697e-01 -4.46127965e-01 -1.09088142e-02 1.75745843e+02] [ 4.46099673e-01 8.94969111e-01 -5.03708626e-03 3.76649965e+01] [ 1.20102368e-02 -3.58716390e-04 9.99927810e-01 2.00956841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.660281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:175.80, Y:37.68, Z:2.01 [[ 8.92950688e-01 -4.50022317e-01 -1.09079571e-02 1.75802268e+02] [ 4.49994291e-01 8.93017215e-01 -5.03894166e-03 3.76789436e+01] [ 1.20086297e-02 -4.08992032e-04 9.99927810e-01 2.01477420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.720281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:175.86, Y:37.69, Z:2.02 [[ 8.93193574e-01 -4.49540062e-01 -1.09073779e-02 1.75859467e+02] [ 4.49511985e-01 8.93260080e-01 -5.04019521e-03 3.76944517e+01] [ 1.20088949e-02 -4.01127120e-04 9.99927810e-01 2.01781155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.780281693 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:175.92, Y:37.71, Z:2.02 [[ 8.95343456e-01 -4.45242792e-01 -1.09065141e-02 1.75915255e+02] [ 4.45214373e-01 8.95409817e-01 -5.04206374e-03 3.77102142e+01] [ 1.20107423e-02 -3.41358049e-04 9.99927810e-01 2.02107119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.840281693 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:175.97, Y:37.73, Z:2.02 [[ 8.96057512e-01 -4.43804001e-01 -1.09061396e-02 1.75971217e+02] [ 4.43775466e-01 8.96123823e-01 -5.04287354e-03 3.77278347e+01] [ 1.20112990e-02 -3.21172480e-04 9.99927810e-01 2.01828410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.900281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:176.03, Y:37.74, Z:2.01 [[ 8.97853942e-01 -4.40158352e-01 -1.09052095e-02 1.76028525e+02] [ 4.40129523e-01 8.97920126e-01 -5.04488420e-03 3.77416191e+01] [ 1.20125550e-02 -2.70135480e-04 9.99927810e-01 2.01056757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96028169299998 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:176.09, Y:37.76, Z:2.02 [[ 9.01349549e-01 -4.32955052e-01 -1.09047845e-02 1.76085365e+02] [ 4.32925683e-01 9.01415494e-01 -5.04580255e-03 3.77584670e+01] [ 1.20143475e-02 -1.72929447e-04 9.99927810e-01 2.01855383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.020281693 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:176.14, Y:37.78, Z:2.01 [[ 9.06021530e-01 -4.23091113e-01 -1.09039984e-02 1.76140223e+02] [ 4.23061006e-01 9.06087142e-01 -5.04750073e-03 3.77784293e+01] [ 1.20155255e-02 -3.99122127e-05 9.99927810e-01 2.01220863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.080281693 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:176.19, Y:37.80, Z:2.01 [[ 9.10300743e-01 -4.13803916e-01 -1.09030792e-02 1.76192172e+02] [ 4.13773115e-01 9.10366032e-01 -5.04948557e-03 3.78040731e+01] [ 1.20152899e-02 8.51494161e-05 9.99927810e-01 2.01172407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.140281693 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:176.24, Y:37.83, Z:2.01 [[ 9.11417525e-01 -4.11338349e-01 -1.09021506e-02 1.76242850e+02] [ 4.11307348e-01 9.11482720e-01 -5.05148973e-03 3.78297576e+01] [ 1.20149933e-02 1.19881622e-04 9.99927810e-01 2.01302737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.200281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:176.29, Y:37.86, Z:2.02 [[ 9.13452861e-01 -4.06798509e-01 -1.09015180e-02 1.76291751e+02] [ 4.06767167e-01 9.13517893e-01 -5.05285451e-03 3.78606576e+01] [ 1.20142254e-02 1.81164808e-04 9.99927810e-01 2.01514431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.260281693 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:176.34, Y:37.89, Z:2.03 [[ 9.13634718e-01 -4.06389926e-01 -1.09008941e-02 1.76341775e+02] [ 4.06358539e-01 9.13699728e-01 -5.05420007e-03 3.78898639e+01] [ 1.20141200e-02 1.88021238e-04 9.99927810e-01 2.02527445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.320281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:176.39, Y:37.92, Z:2.03 [[ 9.12348607e-01 -4.09269118e-01 -1.08999347e-02 1.76390558e+02] [ 4.09237912e-01 9.12413703e-01 -5.05626836e-03 3.79191258e+01] [ 1.20146243e-02 1.52412870e-04 9.99927810e-01 2.02846698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.380281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:176.44, Y:37.95, Z:2.02 [[ 9.10777172e-01 -4.12754338e-01 -1.08995181e-02 1.76441590e+02] [ 4.12723370e-01 9.10842382e-01 -5.05716620e-03 3.79467770e+01] [ 1.20151103e-02 1.07465676e-04 9.99927810e-01 2.02484009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.440281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:176.49, Y:37.97, Z:2.02 [[ 9.06972905e-01 -4.21047943e-01 -1.08985665e-02 1.76490913e+02] [ 4.21017547e-01 9.07038384e-01 -5.05921615e-03 3.79747169e+01] [ 1.20155907e-02 8.42283220e-08 9.99927810e-01 2.02483854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.500281693 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:176.54, Y:38.00, Z:2.03 [[ 9.02226272e-01 -4.31125259e-01 -1.08979212e-02 1.76543032e+02] [ 4.31095577e-01 9.02292078e-01 -5.06060575e-03 3.79979416e+01] [ 1.20148630e-02 -1.32234190e-04 9.99927810e-01 2.02600326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.560281693 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:176.60, Y:38.02, Z:2.02 [[ 9.00307490e-01 -4.35117992e-01 -1.08975169e-02 1.76595923e+02] [ 4.35088592e-01 9.00373422e-01 -5.06147628e-03 3.80206742e+01] [ 1.20141740e-02 -1.84500287e-04 9.99927810e-01 2.02429590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.620281693 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:176.65, Y:38.04, Z:2.02 [[ 8.99996390e-01 -4.35761130e-01 -1.08966027e-02 1.76649182e+02] [ 4.35731752e-01 9.00062332e-01 -5.06344378e-03 3.80438504e+01] [ 1.20140736e-02 -1.90914647e-04 9.99927810e-01 2.01764845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.680281693 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:176.70, Y:38.07, Z:2.02 [[ 9.00370501e-01 -4.34987637e-01 -1.08956999e-02 1.76703253e+02] [ 4.34958180e-01 9.00436407e-01 -5.06538555e-03 3.80659159e+01] [ 1.20142650e-02 -1.78450091e-04 9.99927810e-01 2.01968470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.740281693 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:176.76, Y:38.08, Z:2.02 [[ 8.99802264e-01 -4.36161885e-01 -1.08947573e-02 1.76757974e+02] [ 4.36132489e-01 8.99868198e-01 -5.06741212e-03 3.80831353e+01] [ 1.20140577e-02 -1.91888726e-04 9.99927810e-01 2.01889658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.800281693 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:176.81, Y:38.10, Z:2.02 [[ 8.99670809e-01 -4.36432984e-01 -1.08943498e-02 1.76812889e+02] [ 4.36403597e-01 8.99736746e-01 -5.06828804e-03 3.81022731e+01] [ 1.20140149e-02 -1.94542660e-04 9.99927810e-01 2.01906422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.860281693 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:176.87, Y:38.12, Z:2.02 [[ 9.01008649e-01 -4.33664325e-01 -1.08934719e-02 1.76866381e+02] [ 4.33634713e-01 9.01074486e-01 -5.07017439e-03 3.81236758e+01] [ 1.20145833e-02 -1.55516570e-04 9.99927810e-01 2.02222903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.920281693 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:176.92, Y:38.15, Z:2.02 [[ 9.02917631e-01 -4.29675581e-01 -1.08925211e-02 1.76919132e+02] [ 4.29645654e-01 9.02983325e-01 -5.07221620e-03 3.81460483e+01] [ 1.20151723e-02 -1.00130900e-04 9.99927810e-01 2.02405707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.980281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:176.97, Y:38.17, Z:2.03 [[ 9.02435229e-01 -4.30687850e-01 -1.08918757e-02 1.76971570e+02] [ 4.30657979e-01 9.02500949e-01 -5.07360168e-03 3.81702943e+01] [ 1.20150668e-02 -1.12076273e-04 9.99927810e-01 2.03129523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.040281693 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:177.03, Y:38.19, Z:2.03 [[ 9.01774249e-01 -4.32070123e-01 -1.08909352e-02 1.77025066e+02] [ 4.32040329e-01 9.01840004e-01 -5.07561972e-03 3.81933582e+01] [ 1.20149047e-02 -1.28260072e-04 9.99927810e-01 2.03379917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.100281693 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:177.08, Y:38.22, Z:2.03 [[ 9.02060852e-01 -4.31471467e-01 -1.08900003e-02 1.77077515e+02] [ 4.31441605e-01 9.02126576e-01 -5.07762484e-03 3.82167854e+01] [ 1.20150089e-02 -1.18072622e-04 9.99927810e-01 2.03361447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.160281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:177.13, Y:38.24, Z:2.03 [[ 9.02926822e-01 -4.29656340e-01 -1.08895971e-02 1.77131958e+02] [ 4.29626335e-01 9.02992481e-01 -5.07848946e-03 3.82361374e+01] [ 1.20152295e-02 -9.29533265e-05 9.99927810e-01 2.03498289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.220281693 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:177.19, Y:38.25, Z:2.03 [[ 9.02353610e-01 -4.30858908e-01 -1.08886822e-02 1.77187784e+02] [ 4.30828967e-01 9.02419298e-01 -5.08045015e-03 3.82538570e+01] [ 1.20151142e-02 -1.06797186e-04 9.99927810e-01 2.03013162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.280281693 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:177.24, Y:38.27, Z:2.03 [[ 9.03904517e-01 -4.27595698e-01 -1.08877716e-02 1.77242367e+02] [ 4.27565496e-01 9.03970086e-01 -5.08240092e-03 3.82707331e+01] [ 1.20154326e-02 -6.12303278e-05 9.99927810e-01 2.02983014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.340281693 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:177.29, Y:38.30, Z:2.03 [[ 9.06957872e-01 -4.21080620e-01 -1.08871537e-02 1.77294511e+02] [ 4.21049932e-01 9.07023214e-01 -5.08372417e-03 3.82966579e+01] [ 1.20155589e-02 2.66883088e-05 9.99927810e-01 2.02972196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.400281693 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:177.35, Y:38.32, Z:2.04 [[ 9.12238391e-01 -4.09515088e-01 -1.08862406e-02 1.77345420e+02] [ 4.09483548e-01 9.12303327e-01 -5.08567876e-03 3.83240562e+01] [ 1.20142157e-02 1.81614981e-04 9.99927810e-01 2.03588295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46028169299998 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:177.39, Y:38.36, Z:2.03 [[ 9.15418876e-01 -4.02355288e-01 -1.08859567e-02 1.77394815e+02] [ 4.02323233e-01 9.15483558e-01 -5.08628632e-03 3.83558866e+01] [ 1.20124086e-02 2.76409193e-04 9.99927810e-01 2.03481686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.520281693 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:177.44, Y:38.39, Z:2.03 [[ 9.17645208e-01 -3.97251542e-01 -1.08850288e-02 1.77444154e+02] [ 3.97219104e-01 9.17709700e-01 -5.08827133e-03 3.83872141e+01] [ 1.20106202e-02 3.45486401e-04 9.99927810e-01 2.03064900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.580281693 meters Centerline goodness : 0.999493 with order 1 Centerline is valid? [True, True] Translation: X:177.49, Y:38.42, Z:2.03 [[ 9.19756574e-01 -3.92338351e-01 -1.08840729e-02 1.77491350e+02] [ 3.92305544e-01 9.19820878e-01 -5.09031522e-03 3.84205190e+01] [ 1.20085234e-02 4.11968721e-04 9.99927810e-01 2.03350191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.640281693 meters Centerline goodness : 0.999380 with order 1 Centerline is valid? [True, True] Translation: X:177.54, Y:38.45, Z:2.03 [[ 9.20595160e-01 -3.90366620e-01 -1.08836591e-02 1.77540574e+02] [ 3.90333665e-01 9.20659389e-01 -5.09119983e-03 3.84516678e+01] [ 1.20075774e-02 4.38675362e-04 9.99927810e-01 2.03265662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.700281693 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:177.59, Y:38.48, Z:2.03 [[ 9.20178367e-01 -3.91348105e-01 -1.08826904e-02 1.77587632e+02] [ 3.91315194e-01 9.20242619e-01 -5.09326978e-03 3.84847243e+01] [ 1.20079570e-02 4.28154571e-04 9.99927810e-01 2.03122605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.760281693 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:177.64, Y:38.51, Z:2.04 [[ 9.16895413e-01 -3.98979169e-01 -1.08822732e-02 1.77637900e+02] [ 3.98946783e-01 9.16959931e-01 -5.09416090e-03 3.85143656e+01] [ 1.20110726e-02 3.29364877e-04 9.99927810e-01 2.03881112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.820281693 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:177.69, Y:38.54, Z:2.03 [[ 9.14044268e-01 -4.05468443e-01 -1.08819815e-02 1.77688458e+02] [ 4.05436507e-01 9.14109010e-01 -5.09478402e-03 3.85428618e+01] [ 1.20130915e-02 2.44905567e-04 9.99927810e-01 2.03483455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.880281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:177.74, Y:38.57, Z:2.04 [[ 9.13022893e-01 -4.07763167e-01 -1.08810447e-02 1.77739171e+02] [ 4.07731370e-01 9.13087703e-01 -5.09678397e-03 3.85704390e+01] [ 1.20136289e-02 2.16937189e-04 9.99927810e-01 2.03545524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.940281693 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:177.79, Y:38.59, Z:2.04 [[ 9.13100016e-01 -4.07590460e-01 -1.08801120e-02 1.77792474e+02] [ 4.07558627e-01 9.13164809e-01 -5.09877424e-03 3.85930118e+01] [ 1.20135471e-02 2.21407334e-04 9.99927810e-01 2.04131251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.000281693 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:177.85, Y:38.62, Z:2.04 [[ 9.11229092e-01 -4.11756203e-01 -1.08798241e-02 1.77845094e+02] [ 4.11724659e-01 9.11294026e-01 -5.09938843e-03 3.86172564e+01] [ 1.20144235e-02 1.67219218e-04 9.99927810e-01 2.04027620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.060281693 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:177.90, Y:38.64, Z:2.04 [[ 9.10111155e-01 -4.14221359e-01 -1.08788950e-02 1.77898672e+02] [ 4.14189967e-01 9.10176163e-01 -5.10136982e-03 3.86406771e+01] [ 1.20148072e-02 1.36884414e-04 9.99927810e-01 2.04057147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.120281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:177.95, Y:38.66, Z:2.04 [[ 9.07929216e-01 -4.18982350e-01 -1.08779262e-02 1.77953067e+02] [ 4.18951275e-01 9.07994375e-01 -5.10343477e-03 3.86586368e+01] [ 1.20153449e-02 7.62364706e-05 9.99927810e-01 2.04456365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.180281693 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:178.01, Y:38.68, Z:2.04 [[ 9.07364678e-01 -4.20203548e-01 -1.08775070e-02 1.78007149e+02] [ 4.20172550e-01 9.07429873e-01 -5.10432814e-03 3.86808343e+01] [ 1.20154316e-02 6.10572127e-05 9.99927810e-01 2.03819258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.240281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:178.06, Y:38.70, Z:2.04 [[ 9.06967936e-01 -4.21059216e-01 -1.08765648e-02 1.78061227e+02] [ 4.21028255e-01 9.07033149e-01 -5.10633496e-03 3.87016564e+01] [ 1.20154742e-02 5.19409741e-05 9.99927810e-01 2.04113032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.300281693 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:178.11, Y:38.72, Z:2.04 [[ 9.06745844e-01 -4.21537301e-01 -1.08756097e-02 1.78114254e+02] [ 4.21506350e-01 9.06811062e-01 -5.10836848e-03 3.87233621e+01] [ 1.20154910e-02 4.78533484e-05 9.99927810e-01 2.04343246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.360281693 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:178.17, Y:38.74, Z:2.04 [[ 9.06169095e-01 -4.22775710e-01 -1.08751967e-02 1.78168593e+02] [ 4.22744837e-01 9.06234351e-01 -5.10924748e-03 3.87445532e+01] [ 1.20155426e-02 3.24089076e-05 9.99927810e-01 2.04242451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.420281693 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:178.22, Y:38.77, Z:2.04 [[ 9.04816851e-01 -4.25662091e-01 -1.08742677e-02 1.78220425e+02] [ 4.25631403e-01 9.04882193e-01 -5.11122396e-03 3.87686648e+01] [ 1.20155855e-02 -3.70825344e-06 9.99927810e-01 2.04373590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.480281693 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:178.28, Y:38.79, Z:2.04 [[ 9.03372498e-01 -4.28718892e-01 -1.08738655e-02 1.78275586e+02] [ 4.28688414e-01 9.03437939e-01 -5.11207946e-03 3.87878213e+01] [ 1.20155077e-02 -4.33881704e-05 9.99927810e-01 2.04148582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.540281693 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:178.33, Y:38.81, Z:2.05 [[ 9.02746410e-01 -4.30035695e-01 -1.08729486e-02 1.78328539e+02] [ 4.30005290e-01 9.02811884e-01 -5.11402894e-03 3.88113305e+01] [ 1.20154422e-02 -5.87541459e-05 9.99927810e-01 2.04803273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.600281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:178.38, Y:38.83, Z:2.05 [[ 9.01857334e-01 -4.31897151e-01 -1.08719897e-02 1.78382966e+02] [ 4.31866856e-01 9.01922860e-01 -5.11606657e-03 3.88329053e+01] [ 1.20153106e-02 -8.12898680e-05 9.99927810e-01 2.04766250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.660281693 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:178.44, Y:38.85, Z:2.05 [[ 8.99899827e-01 -4.35961147e-01 -1.08710300e-02 1.78436429e+02] [ 4.35931124e-01 8.99965477e-01 -5.11810502e-03 3.88545741e+01] [ 1.20148467e-02 -1.33238511e-04 9.99927810e-01 2.04770345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.720281693 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:178.49, Y:38.87, Z:2.05 [[ 8.96582062e-01 -4.42744225e-01 -1.08700635e-02 1.78491238e+02] [ 4.42714673e-01 8.96647926e-01 -5.12015698e-03 3.88713678e+01] [ 1.20135398e-02 -2.21695701e-04 9.99927810e-01 2.05089540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.780281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:178.55, Y:38.89, Z:2.05 [[ 8.95116031e-01 -4.45700730e-01 -1.08696454e-02 1.78546972e+02] [ 4.45671385e-01 8.95181988e-01 -5.12104438e-03 3.88899761e+01] [ 1.20127640e-02 -2.60360997e-04 9.99927810e-01 2.05083927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.840281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:178.60, Y:38.91, Z:2.05 [[ 8.94333045e-01 -4.47269802e-01 -1.08686998e-02 1.78603348e+02] [ 4.47240549e-01 8.94399042e-01 -5.12305040e-03 3.89054803e+01] [ 1.20123405e-02 -2.79210018e-04 9.99927810e-01 2.05284100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.900281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:178.66, Y:38.92, Z:2.05 [[ 8.95357006e-01 -4.45216490e-01 -1.08677532e-02 1.78658053e+02] [ 4.45187061e-01 8.95422925e-01 -5.12505769e-03 3.89232958e+01] [ 1.20129956e-02 -2.49426811e-04 9.99927810e-01 2.04996570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96028169299998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:178.71, Y:38.94, Z:2.05 [[ 8.96524842e-01 -4.42860145e-01 -1.08673445e-02 1.78712527e+02] [ 4.42830532e-01 8.96590679e-01 -5.12592435e-03 3.89437389e+01] [ 1.20136273e-02 -2.16873403e-04 9.99927810e-01 2.05093297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.020281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:178.77, Y:38.96, Z:2.05 [[ 8.98685161e-01 -4.38459692e-01 -1.08664100e-02 1.78766212e+02] [ 4.38429733e-01 8.98750841e-01 -5.12790456e-03 3.89626705e+01] [ 1.20145746e-02 -1.55785492e-04 9.99927810e-01 2.05317989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.080281693 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:178.82, Y:38.99, Z:2.06 [[ 9.01774157e-01 -4.32070943e-01 -1.08660054e-02 1.78819086e+02] [ 4.32040508e-01 9.01839617e-01 -5.12876165e-03 3.89871041e+01] [ 1.20153831e-02 -6.95698007e-05 9.99927810e-01 2.05516843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.140281693 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:178.87, Y:39.01, Z:2.05 [[ 9.02202805e-01 -4.31175194e-01 -1.08651051e-02 1.78873725e+02] [ 4.31144671e-01 9.02268224e-01 -5.13066832e-03 3.90104257e+01] [ 1.20154560e-02 -5.55288093e-05 9.99927810e-01 2.04672135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.200281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:178.93, Y:39.03, Z:2.05 [[ 9.00130055e-01 -4.35485763e-01 -1.08643219e-02 1.78930554e+02] [ 4.35455533e-01 9.00195611e-01 -5.13232628e-03 3.90279801e+01] [ 1.20150699e-02 -1.11167937e-04 9.99927810e-01 2.05170388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.260281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:178.98, Y:39.05, Z:2.06 [[ 9.01201967e-01 -4.33263197e-01 -1.08635372e-02 1.78984612e+02] [ 4.33232786e-01 9.01267438e-01 -5.13398665e-03 3.90489023e+01] [ 1.20153198e-02 -7.96816095e-05 9.99927810e-01 2.05584875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.320281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:179.04, Y:39.07, Z:2.05 [[ 9.04276163e-01 -4.26809822e-01 -1.08626092e-02 1.79039102e+02] [ 4.26778920e-01 9.04341404e-01 -5.13594940e-03 3.90690858e+01] [ 1.20155809e-02 8.38400234e-06 9.99927810e-01 2.05051358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.380281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:179.09, Y:39.09, Z:2.05 [[ 9.05944438e-01 -4.23257234e-01 -1.08623222e-02 1.79094165e+02] [ 4.23226068e-01 9.06009553e-01 -5.13655632e-03 3.90913461e+01] [ 1.20154523e-02 5.62167193e-05 9.99927810e-01 2.04501444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.440281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:179.15, Y:39.11, Z:2.05 [[ 9.08247312e-01 -4.18292778e-01 -1.08615249e-02 1.79146701e+02] [ 4.18261236e-01 9.08312246e-01 -5.13824169e-03 3.91140563e+01] [ 1.20149455e-02 1.23839374e-04 9.99927810e-01 2.04539664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.500281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:179.20, Y:39.14, Z:2.05 [[ 9.10270471e-01 -4.13871605e-01 -1.08611294e-02 1.79197996e+02] [ 4.13839738e-01 9.10335246e-01 -5.13907753e-03 3.91403701e+01] [ 1.20141872e-02 1.83183577e-04 9.99927810e-01 2.05037355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.560281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:179.25, Y:39.17, Z:2.06 [[ 9.10594904e-01 -4.13157310e-01 -1.08608525e-02 1.79251197e+02] [ 4.13125385e-01 9.10659651e-01 -5.13966258e-03 3.91658652e+01] [ 1.20140293e-02 1.93256671e-04 9.99927810e-01 2.05688618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.620281693 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:179.30, Y:39.19, Z:2.06 [[ 9.08285656e-01 -4.18209548e-01 -1.08600745e-02 1.79303400e+02] [ 4.18177964e-01 9.08350570e-01 -5.14130598e-03 3.91888005e+01] [ 1.20148981e-02 1.28330625e-04 9.99927810e-01 2.05617424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.680281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:179.36, Y:39.22, Z:2.06 [[ 9.06750256e-01 -4.21528221e-01 -1.08596905e-02 1.79355484e+02] [ 4.21496864e-01 9.06815280e-01 -5.14211693e-03 3.92153610e+01] [ 1.20152807e-02 8.52903352e-05 9.99927810e-01 2.05882861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.740281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:179.41, Y:39.24, Z:2.06 [[ 9.06295692e-01 -4.22504681e-01 -1.08587620e-02 1.79406521e+02] [ 4.22473371e-01 9.06360739e-01 -5.14407698e-03 3.92435973e+01] [ 1.20153522e-02 7.45170219e-05 9.99927810e-01 2.05870211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.800281693 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:179.45, Y:39.28, Z:2.06 [[ 9.07951077e-01 -4.18935495e-01 -1.08578162e-02 1.79454286e+02] [ 4.18903906e-01 9.08015989e-01 -5.14607267e-03 3.92764025e+01] [ 1.20149432e-02 1.24000627e-04 9.99927810e-01 2.06117490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.860281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:179.50, Y:39.31, Z:2.06 [[ 9.09067280e-01 -4.16507859e-01 -1.08574066e-02 1.79502785e+02] [ 4.16476086e-01 9.09132102e-01 -5.14693652e-03 3.93084197e+01] [ 1.20145564e-02 1.57061356e-04 9.99927810e-01 2.05856999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.920281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:179.55, Y:39.34, Z:2.06 [[ 9.08945516e-01 -4.16773544e-01 -1.08564794e-02 1.79553942e+02] [ 4.16741766e-01 9.09010335e-01 -5.14889172e-03 3.93352808e+01] [ 1.20145738e-02 1.55713655e-04 9.99927810e-01 2.05764164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.980281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:179.60, Y:39.37, Z:2.06 [[ 9.07925004e-01 -4.18992057e-01 -1.08555557e-02 1.79603038e+02] [ 4.18960415e-01 9.07989890e-01 -5.15083838e-03 3.93668609e+01] [ 1.20148952e-02 1.28526848e-04 9.99927810e-01 2.05833846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.040281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:179.65, Y:39.40, Z:2.06 [[ 9.07177321e-01 -4.20608471e-01 -1.08546364e-02 1.79652796e+02] [ 4.20576921e-01 9.07242251e-01 -5.15277494e-03 3.93955685e+01] [ 1.20150855e-02 1.09271005e-04 9.99927810e-01 2.05644585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.100281693 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:179.70, Y:39.42, Z:2.05 [[ 9.06255292e-01 -4.22591448e-01 -1.08542378e-02 1.79704672e+02] [ 4.22560030e-01 9.06320286e-01 -5.15361448e-03 3.94226612e+01] [ 1.20152893e-02 8.39233462e-05 9.99927810e-01 2.05427076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.160281693 meters Centerline goodness : 0.999447 with order 1 Centerline is valid? [True, True] Translation: X:179.76, Y:39.45, Z:2.06 [[ 9.06097398e-01 -4.22929911e-01 -1.08533343e-02 1.79756705e+02] [ 4.22898495e-01 9.06162394e-01 -5.15551648e-03 3.94488554e+01] [ 1.20153055e-02 8.15413255e-05 9.99927810e-01 2.06070862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.220281693 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:179.81, Y:39.48, Z:2.06 [[ 9.07774601e-01 -4.19317882e-01 -1.08530321e-02 1.79805889e+02] [ 4.19286199e-01 9.07839467e-01 -5.15615258e-03 3.94784264e+01] [ 1.20148778e-02 1.30097775e-04 9.99927810e-01 2.06080575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.280281693 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:179.85, Y:39.51, Z:2.06 [[ 9.09512065e-01 -4.15535828e-01 -1.08526135e-02 1.79854138e+02] [ 4.15503865e-01 9.09576793e-01 -5.15703340e-03 3.95114705e+01] [ 1.20142176e-02 1.81081230e-04 9.99927810e-01 2.06401048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.340281693 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:179.90, Y:39.54, Z:2.07 [[ 9.09197180e-01 -4.16224374e-01 -1.08516799e-02 1.79902613e+02] [ 4.16192437e-01 9.09261921e-01 -5.15899725e-03 3.95439926e+01] [ 1.20143197e-02 1.74158651e-04 9.99927810e-01 2.06549201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.400281693 meters Centerline goodness : 0.999427 with order 1 Centerline is valid? [True, True] Translation: X:179.95, Y:39.58, Z:2.07 [[ 9.05462756e-01 -4.24287001e-01 -1.08507522e-02 1.79950562e+02] [ 4.24255618e-01 9.05527766e-01 -5.16094776e-03 3.95793311e+01] [ 1.20153804e-02 6.95534142e-05 9.99927810e-01 2.06582057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46028169299998 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:180.00, Y:39.61, Z:2.06 [[ 9.00959172e-01 -4.33768202e-01 -1.08497793e-02 1.80000620e+02] [ 4.33737478e-01 9.01024497e-01 -5.16299220e-03 3.96106099e+01] [ 1.20154588e-02 -5.43107352e-05 9.99927810e-01 2.06115270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.520281693 meters Centerline goodness : 0.999450 with order 1 Centerline is valid? [True, True] Translation: X:180.05, Y:39.64, Z:2.06 [[ 8.98053037e-01 -4.39753390e-01 -1.08489232e-02 1.80050752e+02] [ 4.39723079e-01 8.98118555e-01 -5.16479058e-03 3.96399675e+01] [ 1.20148534e-02 -1.32266035e-04 9.99927810e-01 2.06475619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.580281693 meters Centerline goodness : 0.999322 with order 1 Centerline is valid? [True, True] Translation: X:180.10, Y:39.67, Z:2.07 [[ 8.95386484e-01 -4.45157686e-01 -1.08479585e-02 1.80103963e+02] [ 4.45127746e-01 8.95452173e-01 -5.16681597e-03 3.96655029e+01] [ 1.20138758e-02 -2.02430125e-04 9.99927810e-01 2.06821133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.640281693 meters Centerline goodness : 0.999279 with order 1 Centerline is valid? [True, True] Translation: X:180.16, Y:39.69, Z:2.07 [[ 8.92539093e-01 -4.50839559e-01 -1.08471232e-02 1.80158336e+02] [ 4.50810016e-01 8.92604961e-01 -5.16856886e-03 3.96852747e+01] [ 1.20123913e-02 -2.76842036e-04 9.99927810e-01 2.06826038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.700281693 meters Centerline goodness : 0.999325 with order 1 Centerline is valid? [True, True] Translation: X:180.21, Y:39.70, Z:2.07 [[ 8.91583800e-01 -4.52725843e-01 -1.08461528e-02 1.80211928e+02] [ 4.52696415e-01 8.91649719e-01 -5.17060447e-03 3.97047671e+01] [ 1.20118354e-02 -2.99987314e-04 9.99927810e-01 2.06757173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.760281693 meters Centerline goodness : 0.999406 with order 1 Centerline is valid? [True, True] Translation: X:180.27, Y:39.72, Z:2.07 [[ 8.92802304e-01 -4.50318128e-01 -1.08457339e-02 1.80266370e+02] [ 4.50288511e-01 8.92868138e-01 -5.17148312e-03 3.97229457e+01] [ 1.20126228e-02 -2.66597305e-04 9.99927810e-01 2.06991328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.820281693 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:180.32, Y:39.74, Z:2.07 [[ 8.94017594e-01 -4.47900570e-01 -1.08453326e-02 1.80320572e+02] [ 4.47870765e-01 8.94083344e-01 -5.17232454e-03 3.97412723e+01] [ 1.20133183e-02 -2.33158250e-04 9.99927810e-01 2.07107971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.880281693 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:180.38, Y:39.76, Z:2.07 [[ 8.92856079e-01 -4.50211516e-01 -1.08449356e-02 1.80376493e+02] [ 4.50181871e-01 8.92921901e-01 -5.17315682e-03 3.97593894e+01] [ 1.20126953e-02 -2.63308863e-04 9.99927810e-01 2.07488427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.940281693 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:180.43, Y:39.78, Z:2.07 [[ 8.91853457e-01 -4.52194449e-01 -1.08439948e-02 1.80429363e+02] [ 4.52164926e-01 8.91919333e-01 -5.17512811e-03 3.97812861e+01] [ 1.20121328e-02 -2.87818214e-04 9.99927810e-01 2.07378352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.000281693 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:180.49, Y:39.80, Z:2.07 [[ 8.89612727e-01 -4.56586917e-01 -1.08435885e-02 1.80485692e+02] [ 4.56557710e-01 8.89678744e-01 -5.17597926e-03 3.97985894e+01] [ 1.20105946e-02 -3.46106909e-04 9.99927810e-01 2.07013199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.060281693 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:180.54, Y:39.82, Z:2.07 [[ 8.88388486e-01 -4.58964416e-01 -1.08426634e-02 1.80540726e+02] [ 4.58935361e-01 8.88454570e-01 -5.17791638e-03 3.98177042e+01] [ 1.20096933e-02 -3.76080373e-04 9.99927810e-01 2.07137439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.120281693 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:180.60, Y:39.83, Z:2.07 [[ 8.89745282e-01 -4.56328598e-01 -1.08417358e-02 1.80596550e+02] [ 4.56299324e-01 8.89811270e-01 -5.17985799e-03 3.98331842e+01] [ 1.20108160e-02 -3.38322516e-04 9.99927810e-01 2.07335178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.180281693 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:180.65, Y:39.85, Z:2.07 [[ 8.94982713e-01 -4.45969068e-01 -1.08413362e-02 1.80651493e+02] [ 4.45939020e-01 8.95048351e-01 -5.18069419e-03 3.98517184e+01] [ 1.20139495e-02 -1.97943100e-04 9.99927810e-01 2.07446191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.240281693 meters Centerline goodness : 0.999338 with order 1 Centerline is valid? [True, True] Translation: X:180.71, Y:39.87, Z:2.08 [[ 8.99240701e-01 -4.37319846e-01 -1.08404370e-02 1.80705000e+02] [ 4.37289143e-01 8.99306036e-01 -5.18257505e-03 3.98734794e+01] [ 1.20153134e-02 -8.00229997e-05 9.99927810e-01 2.07924475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.300281693 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:180.76, Y:39.90, Z:2.07 [[ 9.01077950e-01 -4.33521664e-01 -1.08395192e-02 1.80757583e+02] [ 4.33490663e-01 9.01143144e-01 -5.18449389e-03 3.98980215e+01] [ 1.20155489e-02 -2.71972553e-05 9.99927810e-01 2.07418040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.360281693 meters Centerline goodness : 0.999344 with order 1 Centerline is valid? [True, True] Translation: X:180.81, Y:39.92, Z:2.08 [[ 9.02881337e-01 -4.29753187e-01 -1.08392337e-02 1.80808758e+02] [ 4.29721907e-01 9.02946398e-01 -5.18509070e-03 3.99243974e+01] [ 1.20155563e-02 2.36654322e-05 9.99927810e-01 2.07569341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.420281693 meters Centerline goodness : 0.999237 with order 1 Centerline is valid? [True, True] Translation: X:180.86, Y:39.96, Z:2.09 [[ 9.05025949e-01 -4.25218253e-01 -1.08383163e-02 1.80857373e+02] [ 4.25186623e-01 9.05090841e-01 -5.18700771e-03 3.99560472e+01] [ 1.20152712e-02 8.60694695e-05 9.99927810e-01 2.08513673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.480281693 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:180.91, Y:39.98, Z:2.09 [[ 9.04711056e-01 -4.25887828e-01 -1.08380338e-02 1.80908881e+02] [ 4.25856240e-01 9.04775968e-01 -5.18759801e-03 3.99831660e+01] [ 1.20153273e-02 7.78329634e-05 9.99927810e-01 2.08742660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.540281693 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:180.96, Y:40.01, Z:2.08 [[ 9.00772721e-01 -4.34155572e-01 -1.08371638e-02 1.80962257e+02] [ 4.34124557e-01 9.00837909e-01 -5.18941480e-03 4.00061879e+01] [ 1.20155413e-02 -3.01956360e-05 9.99927810e-01 2.08317483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.600281693 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:181.02, Y:40.02, Z:2.08 [[ 8.94207667e-01 -4.47521199e-01 -1.08362869e-02 1.81017742e+02] [ 4.47491137e-01 8.94273299e-01 -5.19124518e-03 4.00237388e+01] [ 1.20137943e-02 -2.07091117e-04 9.99927810e-01 2.07818184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.660281693 meters Centerline goodness : 0.999386 with order 1 Centerline is valid? [True, True] Translation: X:181.07, Y:40.04, Z:2.08 [[ 8.89719123e-01 -4.56379750e-01 -1.08353710e-02 1.81073421e+02] [ 4.56350318e-01 8.89785040e-01 -5.19315623e-03 4.00382118e+01] [ 1.20112024e-02 -3.24274589e-04 9.99927810e-01 2.08135958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.720281693 meters Centerline goodness : 0.999431 with order 1 Centerline is valid? [True, True] Translation: X:181.13, Y:40.06, Z:2.08 [[ 8.89489898e-01 -4.56826369e-01 -1.08346637e-02 1.81129045e+02] [ 4.56796952e-01 8.89555822e-01 -5.19463148e-03 4.00563321e+01] [ 1.20110828e-02 -3.28669133e-04 9.99927810e-01 2.07948643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.780281693 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:181.18, Y:40.08, Z:2.08 [[ 8.91637448e-01 -4.52620471e-01 -1.08337690e-02 1.81184215e+02] [ 4.52590720e-01 8.91703222e-01 -5.19649670e-03 4.00760613e+01] [ 1.20125475e-02 -2.69872264e-04 9.99927810e-01 2.07695651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.840281693 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:181.24, Y:40.10, Z:2.08 [[ 8.92512674e-01 -4.50892200e-01 -1.08328310e-02 1.81237525e+02] [ 4.50862298e-01 8.92578380e-01 -5.19845131e-03 4.00986870e+01] [ 1.20130919e-02 -2.44431420e-04 9.99927810e-01 2.07775130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.900281693 meters Centerline goodness : 0.999388 with order 1 Centerline is valid? [True, True] Translation: X:181.29, Y:40.12, Z:2.08 [[ 8.92826279e-01 -4.50270925e-01 -1.08318680e-02 1.81290732e+02] [ 4.50240953e-01 8.92891953e-01 -5.20045728e-03 4.01215807e+01] [ 1.20133025e-02 -2.33845632e-04 9.99927810e-01 2.07542430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96028169299998 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:181.35, Y:40.14, Z:2.08 [[ 8.92258649e-01 -4.51394705e-01 -1.08315711e-02 1.81346254e+02] [ 4.51364809e-01 8.92324357e-01 -5.20107551e-03 4.01427362e+01] [ 1.20130127e-02 -2.48285408e-04 9.99927810e-01 2.08255948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.020281693 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:181.40, Y:40.16, Z:2.09 [[ 8.91142572e-01 -4.53594105e-01 -1.08307456e-02 1.81401409e+02] [ 4.53564350e-01 8.91208344e-01 -5.20279394e-03 4.01607644e+01] [ 1.20124075e-02 -2.76008927e-04 9.99927810e-01 2.08586421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.080281693 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:181.45, Y:40.18, Z:2.09 [[ 8.91923122e-01 -4.52057364e-01 -1.08298107e-02 1.81454803e+02] [ 4.52027471e-01 8.91988832e-01 -5.20473932e-03 4.01814963e+01] [ 1.20129109e-02 -2.53144599e-04 9.99927810e-01 2.09189370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.140281693 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:181.51, Y:40.20, Z:2.09 [[ 8.95433218e-01 -4.45064125e-01 -1.08294068e-02 1.81509644e+02] [ 4.45033709e-01 8.95498688e-01 -5.20557950e-03 4.02016838e+01] [ 1.20145363e-02 -1.58202274e-04 9.99927810e-01 2.09313669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.200281693 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:181.56, Y:40.23, Z:2.09 [[ 9.00209410e-01 -4.35322594e-01 -1.08285355e-02 1.81562349e+02] [ 4.35291448e-01 9.00274535e-01 -5.20739130e-03 4.02256017e+01] [ 1.20155499e-02 -2.58262595e-05 9.99927810e-01 2.08933571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.260281693 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:181.61, Y:40.25, Z:2.08 [[ 9.03984298e-01 -4.27428533e-01 -1.08276590e-02 1.81612725e+02] [ 4.27396796e-01 9.04049137e-01 -5.20921314e-03 4.02541067e+01] [ 1.20153021e-02 8.13400993e-05 9.99927810e-01 2.08488376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.320281693 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:181.66, Y:40.28, Z:2.09 [[ 9.05409091e-01 -4.24402121e-01 -1.08267389e-02 1.81664379e+02] [ 4.24370144e-01 9.05473812e-01 -5.21112487e-03 4.02786457e+01] [ 1.20149410e-02 1.23655091e-04 9.99927810e-01 2.08826396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.380281693 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:181.71, Y:40.31, Z:2.09 [[ 9.07223190e-01 -4.20510260e-01 -1.08261149e-02 1.81714120e+02] [ 4.20477990e-01 9.07287766e-01 -5.21242081e-03 4.03076732e+01] [ 1.20142781e-02 1.76685983e-04 9.99927810e-01 2.08887059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.440281693 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:181.76, Y:40.34, Z:2.09 [[ 9.09495215e-01 -4.15573413e-01 -1.08255060e-02 1.81764179e+02] [ 4.15540778e-01 9.09559607e-01 -5.21368514e-03 4.03382340e+01] [ 1.20131119e-02 2.43382495e-04 9.99927810e-01 2.08681306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.500281693 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:181.81, Y:40.37, Z:2.09 [[ 9.11910361e-01 -4.10246659e-01 -1.08246156e-02 1.81812362e+02] [ 4.10213626e-01 9.11974550e-01 -5.21553319e-03 4.03709700e+01] [ 1.20114290e-02 3.15693948e-04 9.99927810e-01 2.08869837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.560281693 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:181.86, Y:40.40, Z:2.09 [[ 9.12334439e-01 -4.09302723e-01 -1.08237340e-02 1.81862825e+02] [ 4.09269602e-01 9.12398582e-01 -5.21736211e-03 4.03997115e+01] [ 1.20110401e-02 3.30153825e-04 9.99927810e-01 2.09202046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.620281693 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:181.91, Y:40.43, Z:2.09 [[ 9.11719213e-01 -4.10671333e-01 -1.08228366e-02 1.81911701e+02] [ 4.10638286e-01 9.11783394e-01 -5.21922295e-03 4.04316490e+01] [ 1.20114680e-02 3.14194754e-04 9.99927810e-01 2.09438319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.680281693 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:181.96, Y:40.46, Z:2.10 [[ 9.12352795e-01 -4.09261852e-01 -1.08218635e-02 1.81960989e+02] [ 4.09228683e-01 9.12416913e-01 -5.22123987e-03 4.04594714e+01] [ 1.20109056e-02 3.34995844e-04 9.99927810e-01 2.09634983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.740281693 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:182.01, Y:40.49, Z:2.10 [[ 9.13176922e-01 -4.07419698e-01 -1.08212008e-02 1.82011738e+02] [ 4.07386383e-01 9.13240965e-01 -5.22261306e-03 4.04880529e+01] [ 1.20101593e-02 3.60759877e-04 9.99927810e-01 2.09559727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.800281693 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:182.06, Y:40.52, Z:2.10 [[ 9.12852744e-01 -4.08145549e-01 -1.08202393e-02 1.82062219e+02] [ 4.08112261e-01 9.12916801e-01 -5.22460422e-03 4.05162417e+01] [ 1.20103772e-02 3.53421960e-04 9.99927810e-01 2.09672094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.860281693 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:182.11, Y:40.54, Z:2.10 [[ 9.11787537e-01 -4.10519709e-01 -1.08192507e-02 1.82113964e+02] [ 4.10486563e-01 9.11851668e-01 -5.22665061e-03 4.05405178e+01] [ 1.20111949e-02 3.24437835e-04 9.99927810e-01 2.09831757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.920281693 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:182.17, Y:40.57, Z:2.10 [[ 9.12497578e-01 -4.08939022e-01 -1.08188242e-02 1.82166450e+02] [ 4.08905755e-01 9.12561645e-01 -5.22753333e-03 4.05656719e+01] [ 1.20105864e-02 3.46232014e-04 9.99927810e-01 2.09889213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.980281693 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:182.22, Y:40.59, Z:2.09 [[ 9.14823693e-01 -4.03708538e-01 -1.08178556e-02 1.82216991e+02] [ 4.03674881e-01 9.14887557e-01 -5.22953702e-03 4.05930097e+01] [ 1.20083302e-02 4.17207795e-04 9.99927810e-01 2.09471419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.040281693 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:182.27, Y:40.62, Z:2.09 [[ 9.15895686e-01 -4.01270577e-01 -1.08174383e-02 1.82269027e+02] [ 4.01236740e-01 9.15959454e-01 -5.23040017e-03 4.06190639e+01] [ 1.20071405e-02 4.50147293e-04 9.99927810e-01 2.09170860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.100281693 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:182.32, Y:40.65, Z:2.09 [[ 9.16807543e-01 -3.99182831e-01 -1.08164813e-02 1.82319818e+02] [ 3.99148826e-01 9.16871222e-01 -5.23237848e-03 4.06457312e+01] [ 1.20059961e-02 4.79698260e-04 9.99927810e-01 2.09315644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.160281693 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:182.37, Y:40.67, Z:2.10 [[ 9.16236138e-01 -4.00492636e-01 -1.08160687e-02 1.82370830e+02] [ 4.00458712e-01 9.16299860e-01 -5.23323112e-03 4.06737412e+01] [ 1.20066328e-02 4.63486526e-04 9.99927810e-01 2.09615021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.220281693 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:182.42, Y:40.70, Z:2.10 [[ 9.16430582e-01 -4.00047507e-01 -1.08157841e-02 1.82420103e+02] [ 4.00013544e-01 9.16494283e-01 -5.23381923e-03 4.07040328e+01] [ 1.20063807e-02 4.69971846e-04 9.99927810e-01 2.09502049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.280281693 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:182.47, Y:40.73, Z:2.10 [[ 9.17272839e-01 -3.98112518e-01 -1.08148368e-02 1.82470045e+02] [ 3.98078399e-01 9.17336457e-01 -5.23577610e-03 4.07339949e+01] [ 1.20052720e-02 4.97482306e-04 9.99927810e-01 2.09793034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.340281693 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:182.52, Y:40.76, Z:2.10 [[ 9.17494460e-01 -3.97601512e-01 -1.08145452e-02 1.82520783e+02] [ 3.97567349e-01 9.17558054e-01 -5.23637829e-03 4.07627848e+01] [ 1.20049650e-02 5.04838012e-04 9.99927810e-01 2.10202364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.400281693 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:182.57, Y:40.79, Z:2.10 [[ 9.19274274e-01 -3.93469027e-01 -1.08136130e-02 1.82569804e+02] [ 3.93434557e-01 9.19337702e-01 -5.23830261e-03 4.07942137e+01] [ 1.20024720e-02 5.60987788e-04 9.99927810e-01 2.09845279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46028169299998 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:182.62, Y:40.83, Z:2.10 [[ 9.21204254e-01 -3.88929053e-01 -1.08126582e-02 1.82618375e+02] [ 3.88894247e-01 9.21267499e-01 -5.24027270e-03 4.08259461e+01] [ 1.19994449e-02 6.22380936e-04 9.99927810e-01 2.10441285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.520281693 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:182.67, Y:40.86, Z:2.11 [[ 9.21701028e-01 -3.87750316e-01 -1.08123632e-02 1.82666282e+02] [ 3.87715421e-01 9.21764224e-01 -5.24088135e-03 4.08604864e+01] [ 1.19986030e-02 6.38405776e-04 9.99927810e-01 2.10500048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.580281693 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:182.71, Y:40.89, Z:2.10 [[ 9.21730380e-01 -3.87680563e-01 -1.08114325e-02 1.82714329e+02] [ 3.87645641e-01 9.21793561e-01 -5.24280068e-03 4.08934161e+01] [ 1.19984407e-02 6.41444004e-04 9.99927810e-01 2.10498293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.640281693 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:182.76, Y:40.93, Z:2.11 [[ 9.21929216e-01 -3.87207506e-01 -1.08105082e-02 1.82759821e+02] [ 3.87172530e-01 9.21992367e-01 -5.24470575e-03 4.09325168e+01] [ 1.19979955e-02 6.49715645e-04 9.99927810e-01 2.10582557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.700281693 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:182.81, Y:40.97, Z:2.10 [[ 9.19995059e-01 -3.91780863e-01 -1.08095569e-02 1.82805943e+02] [ 3.91746178e-01 9.20058370e-01 -5.24666568e-03 4.09692172e+01] [ 1.20009665e-02 5.92303889e-04 9.99927810e-01 2.10206263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.760281693 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:182.85, Y:41.00, Z:2.11 [[ 9.18254836e-01 -3.95842412e-01 -1.08092631e-02 1.82854212e+02] [ 3.95808000e-01 9.18318296e-01 -5.24727086e-03 4.10025463e+01] [ 1.20034365e-02 5.39939023e-04 9.99927810e-01 2.10645939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.820281693 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:182.90, Y:41.03, Z:2.11 [[ 9.16855885e-01 -3.99072005e-01 -1.08083300e-02 1.82902003e+02] [ 3.99037794e-01 9.16919454e-01 -5.24919231e-03 4.10335679e+01] [ 1.20051737e-02 4.99820712e-04 9.99927810e-01 2.11030193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.880281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:182.95, Y:41.07, Z:2.11 [[ 9.13968963e-01 -4.05640141e-01 -1.08079261e-02 1.82950233e+02] [ 4.05606377e-01 9.14032770e-01 -5.25002379e-03 4.10668346e+01] [ 1.20084190e-02 4.14595061e-04 9.99927810e-01 2.10606918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.940281693 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:183.00, Y:41.10, Z:2.11 [[ 9.12427010e-01 -4.09096761e-01 -1.08070240e-02 1.82999684e+02] [ 4.09063217e-01 9.12490933e-01 -5.25188011e-03 4.10981168e+01] [ 1.20098385e-02 3.71201277e-04 9.99927810e-01 2.10969318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.000281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:183.05, Y:41.13, Z:2.10 [[ 9.11598259e-01 -4.10940194e-01 -1.08060463e-02 1.83047733e+02] [ 4.10906755e-01 9.11662238e-01 -5.25389098e-03 4.11307534e+01] [ 1.20104993e-02 3.49160467e-04 9.99927810e-01 2.10486011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.060281693 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:183.10, Y:41.16, Z:2.10 [[ 9.09371884e-01 -4.15843744e-01 -1.08053810e-02 1.83097807e+02] [ 4.15810635e-01 9.09436033e-01 -5.25525887e-03 4.11581081e+01] [ 1.20121693e-02 2.85992335e-04 9.99927810e-01 2.10444509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.120281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:183.15, Y:41.18, Z:2.10 [[ 9.06908906e-01 -4.21188193e-01 -1.08047306e-02 1.83148975e+02] [ 4.21155446e-01 9.06973240e-01 -5.25659569e-03 4.11846339e+01] [ 1.20136176e-02 2.16782306e-04 9.99927810e-01 2.10386008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18028169299998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:183.20, Y:41.21, Z:2.11 [[ 9.04673058e-01 -4.25969409e-01 -1.08037491e-02 1.83200975e+02] [ 4.25936977e-01 9.04737552e-01 -5.25861217e-03 4.12116838e+01] [ 1.20145654e-02 1.55608510e-04 9.99927810e-01 2.11096090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.240281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:183.25, Y:41.24, Z:2.11 [[ 9.02669335e-01 -4.30199221e-01 -1.08028833e-02 1.83253291e+02] [ 4.30167070e-01 9.02733970e-01 -5.26039031e-03 4.12359864e+01] [ 1.20151455e-02 1.01348378e-04 9.99927810e-01 2.11103078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.300281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:183.31, Y:41.25, Z:2.11 [[ 8.99604386e-01 -4.36572179e-01 -1.08018744e-02 1.83308148e+02] [ 4.36540462e-01 8.99669235e-01 -5.26246112e-03 4.12543804e+01] [ 1.20155582e-02 1.86778726e-05 9.99927810e-01 2.10960215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.360281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:183.36, Y:41.27, Z:2.11 [[ 8.97278526e-01 -4.41332727e-01 -1.08014376e-02 1.83363093e+02] [ 4.41301343e-01 8.97343536e-01 -5.26335759e-03 4.12738612e+01] [ 1.20154921e-02 -4.39911653e-05 9.99927810e-01 2.11487310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.420281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:183.42, Y:41.29, Z:2.11 [[ 8.98528070e-01 -4.38783157e-01 -1.08004456e-02 1.83417037e+02] [ 4.38751563e-01 8.98592979e-01 -5.26539225e-03 4.12947218e+01] [ 1.20155700e-02 -7.60967728e-06 9.99927810e-01 2.11186263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.480281693 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:183.47, Y:41.32, Z:2.11 [[ 9.02324460e-01 -4.30922180e-01 -1.08001395e-02 1.83469958e+02] [ 4.30890014e-01 9.02389087e-01 -5.26602002e-03 4.13192547e+01] [ 1.20151729e-02 9.79863885e-05 9.99927810e-01 2.11090347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.540281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:183.52, Y:41.34, Z:2.11 [[ 9.05649548e-01 -4.23889462e-01 -1.07991351e-02 1.83522652e+02] [ 4.23856769e-01 9.05713910e-01 -5.26807900e-03 4.13440773e+01] [ 1.20140101e-02 1.93746841e-04 9.99927810e-01 2.11426616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.600281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:183.57, Y:41.37, Z:2.11 [[ 9.09376163e-01 -4.15834562e-01 -1.07986623e-02 1.83572642e+02] [ 4.15801287e-01 9.09440227e-01 -5.26904802e-03 4.13719762e+01] [ 1.20117902e-02 3.01448979e-04 9.99927810e-01 2.11432797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.660281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:183.62, Y:41.40, Z:2.11 [[ 9.11909877e-01 -4.10248436e-01 -1.07980092e-02 1.83621978e+02] [ 4.10214753e-01 9.11973727e-01 -5.27038609e-03 4.14039548e+01] [ 1.20096684e-02 3.76614454e-04 9.99927810e-01 2.11436161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.720281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:183.67, Y:41.43, Z:2.12 [[ 9.13166606e-01 -4.07443460e-01 -1.07970557e-02 1.83672837e+02] [ 4.07409558e-01 9.13230340e-01 -5.27233868e-03 4.14322346e+01] [ 1.20083788e-02 4.15699910e-04 9.99927810e-01 2.11629979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.780281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:183.72, Y:41.46, Z:2.12 [[ 9.13517060e-01 -4.06657136e-01 -1.07961039e-02 1.83721488e+02] [ 4.06623156e-01 9.13580752e-01 -5.27428711e-03 4.14621709e+01] [ 1.20079392e-02 4.28205429e-04 9.99927810e-01 2.12324160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.840281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:183.77, Y:41.49, Z:2.12 [[ 9.14179841e-01 -4.05164994e-01 -1.07956927e-02 1.83771551e+02] [ 4.05130900e-01 9.14243472e-01 -5.27512852e-03 4.14914784e+01] [ 1.20071890e-02 4.48747438e-04 9.99927810e-01 2.12165450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.900281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:183.82, Y:41.52, Z:2.12 [[ 9.14328756e-01 -4.04828853e-01 -1.07947104e-02 1.83821731e+02] [ 4.04794713e-01 9.14392362e-01 -5.27713794e-03 4.15189794e+01] [ 1.20069384e-02 4.55397278e-04 9.99927810e-01 2.12269066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96028169299998 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:183.87, Y:41.55, Z:2.12 [[ 9.13289811e-01 -4.07167294e-01 -1.07942862e-02 1.83871481e+02] [ 4.07133306e-01 9.13353499e-01 -5.27800552e-03 4.15475528e+01] [ 1.20080303e-02 4.25635243e-04 9.99927810e-01 2.12280626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.020281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:183.92, Y:41.58, Z:2.12 [[ 9.13828058e-01 -4.05957846e-01 -1.07938815e-02 1.83918539e+02] [ 4.05923765e-01 9.13891696e-01 -5.27883292e-03 4.15808063e+01] [ 1.20074223e-02 4.42452615e-04 9.99927810e-01 2.12212739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.080281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:183.97, Y:41.61, Z:2.12 [[ 9.14570030e-01 -4.04283515e-01 -1.07934827e-02 1.83967295e+02] [ 4.04249307e-01 9.14633600e-01 -5.27964828e-03 4.16132739e+01] [ 1.20065567e-02 4.65350188e-04 9.99927810e-01 2.11943318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.140281693 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:184.02, Y:41.65, Z:2.12 [[ 9.13552314e-01 -4.06578024e-01 -1.07925739e-02 1.84015359e+02] [ 4.06543954e-01 9.13615958e-01 -5.28150544e-03 4.16459581e+01] [ 1.20076118e-02 4.37275864e-04 9.99927810e-01 2.12207584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.200281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:184.07, Y:41.67, Z:2.12 [[ 9.10448985e-01 -4.13480575e-01 -1.07916683e-02 1.84066738e+02] [ 4.13446966e-01 9.10512873e-01 -5.28335513e-03 4.16732416e+01] [ 1.20105176e-02 3.48442804e-04 9.99927810e-01 2.11687458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.260281693 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:184.12, Y:41.70, Z:2.13 [[ 9.07538895e-01 -4.19829388e-01 -1.07907093e-02 1.84116757e+02] [ 4.19796202e-01 9.07603005e-01 -5.28531302e-03 4.17014381e+01] [ 1.20126099e-02 2.66728352e-04 9.99927810e-01 2.12632619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.320281693 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:184.17, Y:41.73, Z:2.14 [[ 9.06676946e-01 -4.21687664e-01 -1.07902593e-02 1.84168264e+02] [ 4.21654599e-01 9.06741118e-01 -5.28623152e-03 4.17306739e+01] [ 1.20131104e-02 2.43141779e-04 9.99927810e-01 2.13545801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.380281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:184.22, Y:41.76, Z:2.13 [[ 9.04767954e-01 -4.25768175e-01 -1.07894003e-02 1.84220034e+02] [ 4.25735379e-01 9.04832263e-01 -5.28798436e-03 4.17596548e+01] [ 1.20140529e-02 1.90969387e-04 9.99927810e-01 2.13297757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.440281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:184.27, Y:41.79, Z:2.13 [[ 9.01604852e-01 -4.32426060e-01 -1.07885409e-02 1.84272753e+02] [ 4.32393718e-01 9.01669392e-01 -5.28973706e-03 4.17863641e+01] [ 1.20151173e-02 1.04355299e-04 9.99927810e-01 2.12868037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.500281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:184.32, Y:41.82, Z:2.12 [[ 8.99691348e-01 -4.36393291e-01 -1.07876623e-02 1.84322756e+02] [ 4.36361211e-01 8.99756019e-01 -5.29152825e-03 4.18151220e+01] [ 1.20154515e-02 5.34248065e-05 9.99927810e-01 2.12172899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.560281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:184.37, Y:41.84, Z:2.12 [[ 8.98061738e-01 -4.39737134e-01 -1.07873530e-02 1.84374396e+02] [ 4.39705288e-01 8.98126524e-01 -5.29215859e-03 4.18420394e+01] [ 1.20155665e-02 9.42897103e-06 9.99927810e-01 2.12257531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.620281693 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:184.43, Y:41.86, Z:2.13 [[ 8.95900716e-01 -4.44123362e-01 -1.07864074e-02 1.84429381e+02] [ 4.44091809e-01 8.95965645e-01 -5.29408535e-03 4.18643585e+01] [ 1.20154774e-02 -4.71803034e-05 9.99927810e-01 2.12597817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68028169299998 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:184.48, Y:41.89, Z:2.13 [[ 8.95872332e-01 -4.44180635e-01 -1.07855350e-02 1.84481445e+02] [ 4.44149065e-01 8.95937253e-01 -5.29586197e-03 4.18888006e+01] [ 1.20154819e-02 -4.59690813e-05 9.99927810e-01 2.12532591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.740281693 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:184.53, Y:41.91, Z:2.12 [[ 8.96436830e-01 -4.43040295e-01 -1.07845419e-02 1.84534839e+02] [ 4.43008619e-01 8.96501699e-01 -5.29788354e-03 4.19116400e+01] [ 1.20155360e-02 -2.84270961e-05 9.99927810e-01 2.12167116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.800281693 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:184.59, Y:41.94, Z:2.12 [[ 8.98170726e-01 -4.39514558e-01 -1.07842349e-02 1.84588885e+02] [ 4.39482620e-01 8.98235466e-01 -5.29850834e-03 4.19350986e+01] [ 1.20155539e-02 1.94812544e-05 9.99927810e-01 2.11853657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.860281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:184.64, Y:41.96, Z:2.12 [[ 9.00048137e-01 -4.35657055e-01 -1.07833658e-02 1.84641701e+02] [ 4.35624818e-01 9.00112729e-01 -5.30027665e-03 4.19576067e+01] [ 1.20153477e-02 7.30023719e-05 9.99927810e-01 2.12219805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.920281693 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:184.69, Y:41.98, Z:2.13 [[ 9.01902246e-01 -4.31805586e-01 -1.07830591e-02 1.84693313e+02] [ 4.31773065e-01 9.01966696e-01 -5.30090045e-03 4.19841508e+01] [ 1.20149186e-02 1.25059528e-04 9.99927810e-01 2.12948296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.980281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:184.74, Y:42.01, Z:2.13 [[ 9.04524074e-01 -4.26286208e-01 -1.07827592e-02 1.84744835e+02] [ 4.26253287e-01 9.04588320e-01 -5.30151037e-03 4.20113468e+01] [ 1.20139188e-02 1.99157190e-04 9.99927810e-01 2.13296254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.040281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:184.79, Y:42.05, Z:2.13 [[ 9.08381508e-01 -4.18003337e-01 -1.07817986e-02 1.84791387e+02] [ 4.17969807e-01 9.08445438e-01 -5.30346326e-03 4.20456149e+01] [ 1.20115411e-02 3.11101657e-04 9.99927810e-01 2.13165032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.100281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.84, Y:42.08, Z:2.13 [[ 9.10382389e-01 -4.13627450e-01 -1.07813823e-02 1.84839062e+02] [ 4.13593603e-01 9.10446152e-01 -5.30430953e-03 4.20799222e+01] [ 1.20098760e-02 3.69839237e-04 9.99927810e-01 2.13167158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.160281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.88, Y:42.12, Z:2.13 [[ 9.07463865e-01 -4.19991804e-01 -1.07804385e-02 1.84884282e+02] [ 4.19958381e-01 9.07527852e-01 -5.30622705e-03 4.21193773e+01] [ 1.20121200e-02 2.87873819e-04 9.99927810e-01 2.13296950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.220281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:184.93, Y:42.15, Z:2.13 [[ 9.02995079e-01 -4.29515647e-01 -1.07794223e-02 1.84932096e+02] [ 4.29482875e-01 9.03059401e-01 -5.30829048e-03 4.21518563e+01] [ 1.20144525e-02 1.63782880e-04 9.99927810e-01 2.13358346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.280281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.98, Y:42.18, Z:2.13 [[ 8.95476533e-01 -4.44978192e-01 -1.07789822e-02 1.84980265e+02] [ 4.44946520e-01 8.95541404e-01 -5.30918401e-03 4.21845130e+01] [ 1.20154960e-02 -4.18209364e-05 9.99927810e-01 2.13388977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.340281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:185.03, Y:42.21, Z:2.13 [[ 8.87616789e-01 -4.60456590e-01 -1.07779924e-02 1.85032065e+02] [ 4.60426025e-01 8.87682188e-01 -5.31119276e-03 4.22095911e+01] [ 1.20130055e-02 -2.48164311e-04 9.99927810e-01 2.13399055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.400281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:185.09, Y:42.23, Z:2.14 [[ 8.85021827e-01 -4.65424775e-01 -1.07770122e-02 1.85085438e+02] [ 4.65394553e-01 8.85087386e-01 -5.31318089e-03 4.22312453e+01] [ 1.20114836e-02 -3.13281702e-04 9.99927810e-01 2.13603221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46028169299998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:185.14, Y:42.25, Z:2.14 [[ 8.80822575e-01 -4.73323851e-01 -1.07760475e-02 1.85140554e+02] [ 4.73294192e-01 8.80888391e-01 -5.31513675e-03 4.22476029e+01] [ 1.20082761e-02 -4.18548249e-04 9.99927810e-01 2.14234828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.520281693 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:185.20, Y:42.26, Z:2.14 [[ 8.78842835e-01 -4.76989688e-01 -1.07753948e-02 1.85198540e+02] [ 4.76960288e-01 8.78908766e-01 -5.31645960e-03 4.22612845e+01] [ 1.20064854e-02 -4.67102980e-04 9.99927810e-01 2.14143444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.580281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:185.26, Y:42.27, Z:2.14 [[ 8.78975293e-01 -4.76745577e-01 -1.07744496e-02 1.85256772e+02] [ 4.76716134e-01 8.79041206e-01 -5.31837443e-03 4.22747737e+01] [ 1.20066967e-02 -4.61634257e-04 9.99927810e-01 2.14021937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.640281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.32, Y:42.29, Z:2.14 [[ 8.79158327e-01 -4.76407984e-01 -1.07734993e-02 1.85316465e+02] [ 4.76378493e-01 8.79224218e-01 -5.32029888e-03 4.22856047e+01] [ 1.20069543e-02 -4.54878288e-04 9.99927810e-01 2.14229871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.700281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:185.37, Y:42.30, Z:2.14 [[ 8.80297991e-01 -4.74298850e-01 -1.07725489e-02 1.85374951e+02] [ 4.74269178e-01 8.80363800e-01 -5.32222242e-03 4.22987450e+01] [ 1.20080861e-02 -4.23946220e-04 9.99927810e-01 2.14493611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.760281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:185.43, Y:42.32, Z:2.15 [[ 8.83689788e-01 -4.67949069e-01 -1.07715958e-02 1.85430903e+02] [ 4.67918900e-01 8.83755371e-01 -5.32415073e-03 4.23160454e+01] [ 1.20108870e-02 -3.35335637e-04 9.99927810e-01 2.14538483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.820281693 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:185.49, Y:42.33, Z:2.14 [[ 8.88129007e-01 -4.59468019e-01 -1.07706394e-02 1.85487229e+02] [ 4.59437200e-01 8.88194287e-01 -5.32608487e-03 4.23334948e+01] [ 1.20135860e-02 -2.18181935e-04 9.99927810e-01 2.13863848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.880281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:185.54, Y:42.35, Z:2.14 [[ 8.91202272e-01 -4.53478236e-01 -1.07703430e-02 1.85542028e+02] [ 4.53446972e-01 8.91267339e-01 -5.32668410e-03 4.23534284e+01] [ 1.20147903e-02 -1.36626459e-04 9.99927810e-01 2.13690676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.940281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:185.59, Y:42.38, Z:2.14 [[ 8.94512317e-01 -4.46913565e-01 -1.07693857e-02 1.85593622e+02] [ 4.46881799e-01 8.94577142e-01 -5.32861893e-03 4.23787066e+01] [ 1.20154784e-02 -4.61271845e-05 9.99927810e-01 2.14365620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.000281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:185.64, Y:42.41, Z:2.15 [[ 8.96831026e-01 -4.42242174e-01 -1.07689408e-02 1.85644932e+02] [ 4.42210060e-01 8.96895679e-01 -5.32951797e-03 4.24063690e+01] [ 1.20155540e-02 1.75431267e-05 9.99927810e-01 2.14685358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.060281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:185.69, Y:42.44, Z:2.14 [[ 8.97461502e-01 -4.40961340e-01 -1.07679891e-02 1.85693993e+02] [ 4.40929111e-01 8.97526097e-01 -5.33144010e-03 4.24382545e+01] [ 1.20155102e-02 3.68423868e-05 9.99927810e-01 2.14160459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.120281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:185.74, Y:42.46, Z:2.14 [[ 8.94505515e-01 -4.46927237e-01 -1.07670313e-02 1.85744617e+02] [ 4.46895415e-01 8.94570312e-01 -5.33337359e-03 4.24637843e+01] [ 1.20154965e-02 -4.10048456e-05 9.99927810e-01 2.14411814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18028169299998 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:185.80, Y:42.49, Z:2.15 [[ 8.88894352e-01 -4.57985710e-01 -1.07666312e-02 1.85796875e+02] [ 4.57954684e-01 8.88959534e-01 -5.33418119e-03 4.24886273e+01] [ 1.20140782e-02 -1.89105666e-04 9.99927810e-01 2.14907901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.240281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:185.85, Y:42.51, Z:2.15 [[ 8.86940541e-01 -4.61758138e-01 -1.07656596e-02 1.85852042e+02] [ 4.61727366e-01 8.87005843e-01 -5.33614133e-03 4.25083332e+01] [ 1.20132097e-02 -2.37959596e-04 9.99927810e-01 2.15483706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.300281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:185.91, Y:42.52, Z:2.15 [[ 8.85168629e-01 -4.65145805e-01 -1.07647019e-02 1.85908723e+02] [ 4.65115259e-01 8.85234037e-01 -5.33807275e-03 4.25248004e+01] [ 1.20122626e-02 -2.81732575e-04 9.99927810e-01 2.15367238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.360281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:185.97, Y:42.54, Z:2.15 [[ 8.83743935e-01 -4.67846983e-01 -1.07637492e-02 1.85967537e+02] [ 4.67816614e-01 8.83809425e-01 -5.33999308e-03 4.25371670e+01] [ 1.20114026e-02 -3.16274198e-04 9.99927810e-01 2.15287256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.420281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:186.02, Y:42.55, Z:2.15 [[ 8.86026133e-01 -4.63510362e-01 -1.07627430e-02 1.86023506e+02] [ 4.63479647e-01 8.86091462e-01 -5.34202031e-03 4.25525026e+01] [ 1.20128564e-02 -2.55142728e-04 9.99927810e-01 2.15332897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.480281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:186.08, Y:42.57, Z:2.15 [[ 8.90210988e-01 -4.55421311e-01 -1.07623053e-02 1.86077352e+02] [ 4.55389992e-01 8.90276030e-01 -5.34290185e-03 4.25737896e+01] [ 1.20146938e-02 -1.44736207e-04 9.99927810e-01 2.15201952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.540281693 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:186.13, Y:42.60, Z:2.15 [[ 8.94940743e-01 -4.46055221e-01 -1.07613038e-02 1.86128705e+02] [ 4.46023197e-01 8.95005441e-01 -5.34491825e-03 4.25989308e+01] [ 1.20155542e-02 -1.64060291e-05 9.99927810e-01 2.15223150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.600281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:186.18, Y:42.63, Z:2.15 [[ 9.00052712e-01 -4.35648167e-01 -1.07606210e-02 1.86179153e+02] [ 4.35615379e-01 9.00117025e-01 -5.34629256e-03 4.26279131e+01] [ 1.20149207e-02 1.24453110e-04 9.99927810e-01 2.15272675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.660281693 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:186.23, Y:42.66, Z:2.15 [[ 9.02911976e-01 -4.29690812e-01 -1.07596311e-02 1.86227971e+02] [ 4.29657576e-01 9.02976059e-01 -5.34828418e-03 4.26586339e+01] [ 1.20137978e-02 2.06072840e-04 9.99927810e-01 2.15343704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.720281693 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:186.28, Y:42.69, Z:2.15 [[ 9.02712208e-01 -4.30110345e-01 -1.07592030e-02 1.86276286e+02] [ 4.30077128e-01 9.02776301e-01 -5.34914516e-03 4.26914600e+01] [ 1.20138762e-02 2.01451508e-04 9.99927810e-01 2.15017976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.780281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:186.33, Y:42.72, Z:2.15 [[ 9.00911252e-01 -4.33869998e-01 -1.07582375e-02 1.86325532e+02] [ 4.33837026e-01 9.00975472e-01 -5.35108631e-03 4.27224333e+01] [ 1.20145839e-02 1.53532121e-04 9.99927810e-01 2.15185321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.840281693 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:186.38, Y:42.75, Z:2.15 [[ 8.98420201e-01 -4.39005037e-01 -1.07572659e-02 1.86375717e+02] [ 4.38972409e-01 8.98484596e-01 -5.35303876e-03 4.27491913e+01] [ 1.20152487e-02 8.71352345e-05 9.99927810e-01 2.15059054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.900281693 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:186.43, Y:42.77, Z:2.15 [[ 8.96974198e-01 -4.41952010e-01 -1.07568442e-02 1.86427312e+02] [ 4.41919583e-01 8.97038694e-01 -5.35388601e-03 4.27749218e+01] [ 1.20154662e-02 4.86374982e-05 9.99927810e-01 2.15351990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96028169299998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:186.48, Y:42.80, Z:2.15 [[ 8.97510160e-01 -4.40862591e-01 -1.07558537e-02 1.86476926e+02] [ 4.40830062e-01 8.97574605e-01 -5.35587517e-03 4.28025894e+01] [ 1.20153862e-02 6.54487227e-05 9.99927811e-01 2.15039770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.020281693 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:186.53, Y:42.83, Z:2.16 [[ 8.95281550e-01 -4.45370932e-01 -1.07554247e-02 1.86530243e+02] [ 4.45338717e-01 8.95346153e-01 -5.35673660e-03 4.28277444e+01] [ 1.20155629e-02 5.98042497e-06 9.99927811e-01 2.15706552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.080281693 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:186.58, Y:42.85, Z:2.15 [[ 8.90901398e-01 -4.54069421e-01 -1.07545693e-02 1.86583183e+02] [ 4.54037815e-01 8.90966301e-01 -5.35845334e-03 4.28519258e+01] [ 1.20150686e-02 -1.09127583e-04 9.99927811e-01 2.15422469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.140281693 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:186.64, Y:42.88, Z:2.16 [[ 8.89455982e-01 -4.56894317e-01 -1.07536013e-02 1.86635599e+02] [ 4.56862894e-01 8.89520973e-01 -5.36039533e-03 4.28769792e+01] [ 1.20146880e-02 -1.45085710e-04 9.99927811e-01 2.15738776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.200281693 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:186.69, Y:42.90, Z:2.15 [[ 8.90247941e-01 -4.55349300e-01 -1.07526334e-02 1.86686537e+02] [ 4.55317741e-01 8.90312866e-01 -5.36233623e-03 4.29016898e+01] [ 1.20149439e-02 -1.22055946e-04 9.99927811e-01 2.15464764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.260281693 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:186.74, Y:42.93, Z:2.16 [[ 8.91714723e-01 -4.52470157e-01 -1.07522144e-02 1.86738649e+02] [ 4.52438378e-01 8.91779541e-01 -5.36317616e-03 4.29276737e+01] [ 1.20152820e-02 -8.22912997e-05 9.99927811e-01 2.15776734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.320281693 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:186.79, Y:42.96, Z:2.16 [[ 8.92657327e-01 -4.50607708e-01 -1.07512661e-02 1.86788018e+02] [ 4.50575771e-01 8.92722068e-01 -5.36507647e-03 4.29556210e+01] [ 1.20154373e-02 -5.50851951e-05 9.99927811e-01 2.15826661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.380281693 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:186.84, Y:42.98, Z:2.16 [[ 8.89603389e-01 -4.56607304e-01 -1.07508594e-02 1.86841419e+02] [ 4.56575794e-01 8.89668338e-01 -5.36589136e-03 4.29793656e+01] [ 1.20148044e-02 -1.35067021e-04 9.99927811e-01 2.16212518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.440281693 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:186.90, Y:43.00, Z:2.16 [[ 8.85833406e-01 -4.63878880e-01 -1.07499133e-02 1.86895181e+02] [ 4.63847880e-01 8.85898601e-01 -5.36778604e-03 4.29997792e+01] [ 1.20133357e-02 -2.31360306e-04 9.99927811e-01 2.16215619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.500281693 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:186.95, Y:43.02, Z:2.16 [[ 8.84235296e-01 -4.66917969e-01 -1.07495055e-02 1.86950692e+02] [ 4.66887183e-01 8.84300592e-01 -5.36860253e-03 4.30191058e+01] [ 1.20124911e-02 -2.71698511e-04 9.99927811e-01 2.15760250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.560281693 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:187.00, Y:43.04, Z:2.16 [[ 8.85887870e-01 -4.63774891e-01 -1.07485867e-02 1.87004808e+02] [ 4.63743851e-01 8.85953045e-01 -5.37044155e-03 4.30403283e+01] [ 1.20134191e-02 -2.26981958e-04 9.99927811e-01 2.16493353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.620281693 meters Centerline goodness : 0.999619 with order 1 Centerline is valid? [True, True] Translation: X:187.06, Y:43.06, Z:2.16 [[ 8.87306815e-01 -4.61054328e-01 -1.07481582e-02 1.87059118e+02] [ 4.61023077e-01 8.87371890e-01 -5.37129899e-03 4.30606113e+01] [ 1.20140741e-02 -1.89158769e-04 9.99927811e-01 2.16486753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68028169299998 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:187.11, Y:43.08, Z:2.16 [[ 8.87359095e-01 -4.60953721e-01 -1.07472448e-02 1.87111062e+02] [ 4.60922441e-01 8.87424156e-01 -5.37312583e-03 4.30843145e+01] [ 1.20141270e-02 -1.85754254e-04 9.99927811e-01 2.16107542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.740281693 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:187.16, Y:43.11, Z:2.16 [[ 8.87776742e-01 -4.60148852e-01 -1.07466245e-02 1.87163276e+02] [ 4.60117499e-01 8.87841767e-01 -5.37436631e-03 4.31086283e+01] [ 1.20143106e-02 -1.73472561e-04 9.99927811e-01 2.16347735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.800281693 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:187.21, Y:43.14, Z:2.16 [[ 8.90469259e-01 -4.54916509e-01 -1.07456594e-02 1.87213498e+02] [ 4.54884750e-01 8.90534087e-01 -5.37629523e-03 4.31353887e+01] [ 1.20151414e-02 -1.00610968e-04 9.99927811e-01 2.16409187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.860281693 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:187.26, Y:43.16, Z:2.16 [[ 8.94087762e-01 -4.47762898e-01 -1.07452416e-02 1.87263682e+02] [ 4.47730610e-01 8.94152329e-01 -5.37713008e-03 4.31639638e+01] [ 1.20155622e-02 -3.34739250e-06 9.99927811e-01 2.16421089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.920281693 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:187.31, Y:43.19, Z:2.16 [[ 8.95813240e-01 -4.44300799e-01 -1.07442304e-02 1.87313110e+02] [ 4.44268238e-01 8.95877669e-01 -5.37914985e-03 4.31918105e+01] [ 1.20154767e-02 4.53933356e-05 9.99927811e-01 2.16255353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.980281693 meters Centerline goodness : 0.999578 with order 1 Centerline is valid? [True, True] Translation: X:187.37, Y:43.22, Z:2.17 [[ 8.94695445e-01 -4.46547457e-01 -1.07437914e-02 1.87365438e+02] [ 4.46515046e-01 8.94759950e-01 -5.38002650e-03 4.32171209e+01] [ 1.20155514e-02 1.62206709e-05 9.99927811e-01 2.16541521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.040281693 meters Centerline goodness : 0.999536 with order 1 Centerline is valid? [True, True] Translation: X:187.42, Y:43.24, Z:2.16 [[ 8.93313938e-01 -4.49304796e-01 -1.07428190e-02 1.87418182e+02] [ 4.49272562e-01 8.93378531e-01 -5.38196760e-03 4.32383837e+01] [ 1.20155477e-02 -1.86671286e-05 9.99927811e-01 2.16449256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.100281693 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:187.47, Y:43.26, Z:2.17 [[ 8.94179641e-01 -4.47579458e-01 -1.07423999e-02 1.87473002e+02] [ 4.47547089e-01 8.94244166e-01 -5.38280392e-03 4.32590854e+01] [ 1.20155609e-02 5.46386783e-06 9.99927811e-01 2.17066171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.160281693 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:187.53, Y:43.28, Z:2.17 [[ 8.95316264e-01 -4.45301478e-01 -1.07415454e-02 1.87526659e+02] [ 4.45268924e-01 8.95380697e-01 -5.38450868e-03 4.32812623e+01] [ 1.20155020e-02 3.79618567e-05 9.99927811e-01 2.16948214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.220281693 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:187.58, Y:43.30, Z:2.17 [[ 8.98242046e-01 -4.39369853e-01 -1.07405274e-02 1.87579373e+02] [ 4.39336849e-01 8.98306250e-01 -5.38653835e-03 4.33044551e+01] [ 1.20149655e-02 1.19705746e-04 9.99927811e-01 2.17370254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.280281693 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:187.63, Y:43.33, Z:2.18 [[ 8.99808120e-01 -4.36153640e-01 -1.07401177e-02 1.87630219e+02] [ 4.36120397e-01 8.99872200e-01 -5.38735520e-03 4.33333985e+01] [ 1.20144479e-02 1.63601556e-04 9.99927811e-01 2.17733177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.340281693 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:187.68, Y:43.36, Z:2.18 [[ 8.98978800e-01 -4.37860467e-01 -1.07391320e-02 1.87681387e+02] [ 4.37827322e-01 8.99042931e-01 -5.38931936e-03 4.33598441e+01] [ 1.20147106e-02 1.42998440e-04 9.99927811e-01 2.17530753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.400281693 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:187.73, Y:43.38, Z:2.17 [[ 8.97467391e-01 -4.40950081e-01 -1.07381401e-02 1.87733243e+02] [ 4.40917134e-01 8.97531623e-01 -5.39129510e-03 4.33848012e+01] [ 1.20151123e-02 1.03881609e-04 9.99927811e-01 2.17080152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46028169299998 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:187.79, Y:43.41, Z:2.17 [[ 8.97086657e-01 -4.41724159e-01 -1.07377094e-02 1.87785061e+02] [ 4.41691256e-01 8.97150912e-01 -5.39215263e-03 4.34109598e+01] [ 1.20151899e-02 9.44758094e-05 9.99927811e-01 2.17160132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.520281693 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:187.84, Y:43.44, Z:2.18 [[ 8.95835416e-01 -4.44256266e-01 -1.07367268e-02 1.87835380e+02] [ 4.44223522e-01 8.95899752e-01 -5.39410844e-03 4.34374353e+01] [ 1.20153974e-02 6.27267695e-05 9.99927811e-01 2.17624247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.580281693 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:187.89, Y:43.46, Z:2.17 [[ 8.94231368e-01 -4.47476247e-01 -1.07363110e-02 1.87887683e+02] [ 4.47443725e-01 8.94295817e-01 -5.39493589e-03 4.34619378e+01] [ 1.20155437e-02 2.04258944e-05 9.99927811e-01 2.17146957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.640281693 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:187.94, Y:43.48, Z:2.18 [[ 8.90565220e-01 -4.54728865e-01 -1.07353412e-02 1.87941168e+02] [ 4.54696844e-01 8.90629920e-01 -5.39686504e-03 4.34838542e+01] [ 1.20153264e-02 -7.50654676e-05 9.99927811e-01 2.17808562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.700281693 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:187.99, Y:43.51, Z:2.18 [[ 8.91221559e-01 -4.53441184e-01 -1.07343428e-02 1.87991880e+02] [ 4.53409046e-01 8.91286200e-01 -5.39885023e-03 4.35094010e+01] [ 1.20154326e-02 -5.54763944e-05 9.99927811e-01 2.18018872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.760281693 meters Centerline goodness : 0.999427 with order 1 Centerline is valid? [True, True] Translation: X:188.04, Y:43.54, Z:2.18 [[ 8.94488662e-01 -4.46961768e-01 -1.07336672e-02 1.88039916e+02] [ 4.46929146e-01 8.94553060e-01 -5.40019294e-03 4.35419126e+01] [ 1.20155147e-02 3.32226250e-05 9.99927811e-01 2.18145331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.820281693 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:188.09, Y:43.58, Z:2.18 [[ 8.97172203e-01 -4.41550504e-01 -1.07326645e-02 1.88086153e+02] [ 4.41517469e-01 8.97236391e-01 -5.40218517e-03 4.35779320e+01] [ 1.20150747e-02 1.08031519e-04 9.99927811e-01 2.18419766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.880281693 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:188.13, Y:43.61, Z:2.18 [[ 8.95130576e-01 -4.45674862e-01 -1.07316478e-02 1.88133119e+02] [ 4.45642099e-01 8.95194903e-01 -5.40420405e-03 4.36107760e+01] [ 1.20154343e-02 5.49942340e-05 9.99927811e-01 2.18011123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.940281693 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:188.18, Y:43.64, Z:2.18 [[ 8.90664420e-01 -4.54534638e-01 -1.07309591e-02 1.88181127e+02] [ 4.54502498e-01 8.90729060e-01 -5.40557126e-03 4.36436942e+01] [ 1.20153965e-02 -6.26977245e-05 9.99927811e-01 2.17943689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.000281693 meters Centerline goodness : 0.999536 with order 1 Centerline is valid? [True, True] Translation: X:188.23, Y:43.67, Z:2.18 [[ 8.86381293e-01 -4.62831581e-01 -1.07299298e-02 1.88229646e+02] [ 4.62800022e-01 8.86446218e-01 -5.40761367e-03 4.36744389e+01] [ 1.20143201e-02 -1.72604135e-04 9.99927811e-01 2.17992787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.060281693 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:188.28, Y:43.70, Z:2.18 [[ 8.82670521e-01 -4.69869807e-01 -1.07292356e-02 1.88281762e+02] [ 4.69838748e-01 8.82735687e-01 -5.40899063e-03 4.37008303e+01] [ 1.20126005e-02 -2.66654056e-04 9.99927811e-01 2.18228610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.120281693 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:188.33, Y:43.72, Z:2.18 [[ 8.80858969e-01 -4.73257205e-01 -1.07282494e-02 1.88334971e+02] [ 4.73226373e-01 8.80924243e-01 -5.41094596e-03 4.37234935e+01] [ 1.20115441e-02 -3.10610273e-04 9.99927811e-01 2.18088087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18028169299998 meters Centerline goodness : 0.999469 with order 1 Centerline is valid? [True, True] Translation: X:188.39, Y:43.75, Z:2.18 [[ 8.81096486e-01 -4.72814877e-01 -1.07272695e-02 1.88386410e+02] [ 4.72783989e-01 8.81161734e-01 -5.41288791e-03 4.37496345e+01] [ 1.20117533e-02 -3.02404744e-04 9.99927811e-01 2.17927617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.240281693 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:188.44, Y:43.77, Z:2.18 [[ 8.81921078e-01 -4.71275035e-01 -1.07262930e-02 1.88438937e+02] [ 4.71244009e-01 8.81986260e-01 -5.41482239e-03 4.37731406e+01] [ 1.20123136e-02 -2.79255296e-04 9.99927811e-01 2.18097976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.300281693 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:188.49, Y:43.79, Z:2.19 [[ 8.79761678e-01 -4.75293957e-01 -1.07258599e-02 1.88492288e+02] [ 4.75263219e-01 8.79826996e-01 -5.41568001e-03 4.37930030e+01] [ 1.20109411e-02 -3.33098978e-04 9.99927811e-01 2.18853223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.360281693 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:188.55, Y:43.81, Z:2.19 [[ 8.76950157e-01 -4.80461639e-01 -1.07254381e-02 1.88547040e+02] [ 4.80431276e-01 8.77015650e-01 -5.41651524e-03 4.38132197e+01] [ 1.20088049e-02 -4.02822023e-04 9.99927811e-01 2.18858612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.420281693 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:188.60, Y:43.83, Z:2.19 [[ 8.76674435e-01 -4.80964573e-01 -1.07244711e-02 1.88602274e+02] [ 4.80934223e-01 8.76739935e-01 -5.41842930e-03 4.38319478e+01] [ 1.20086446e-02 -4.07566706e-04 9.99927811e-01 2.18692993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.480281693 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:188.66, Y:43.85, Z:2.19 [[ 8.77200482e-01 -4.80004501e-01 -1.07235129e-02 1.88658039e+02] [ 4.79974057e-01 8.77265938e-01 -5.42032500e-03 4.38482710e+01] [ 1.20091530e-02 -3.92296267e-04 9.99927811e-01 2.18854635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.540281693 meters Centerline goodness : 0.999534 with order 1 Centerline is valid? [True, True] Translation: X:188.72, Y:43.86, Z:2.19 [[ 8.78438787e-01 -4.77734563e-01 -1.07230982e-02 1.88715627e+02] [ 4.77703940e-01 8.78504159e-01 -5.42114518e-03 4.38639341e+01] [ 1.20101548e-02 -3.60322062e-04 9.99927811e-01 2.18718130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.600281693 meters Centerline goodness : 0.999468 with order 1 Centerline is valid? [True, True] Translation: X:188.77, Y:43.88, Z:2.18 [[ 8.83164883e-01 -4.68940109e-01 -1.07221058e-02 1.88769112e+02] [ 4.68908811e-01 8.83229935e-01 -5.42310731e-03 4.38849983e+01] [ 1.20131973e-02 -2.38191939e-04 9.99927811e-01 2.18469210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.660281693 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:188.82, Y:43.91, Z:2.18 [[ 8.87686183e-01 -4.60324109e-01 -1.07216751e-02 1.88822443e+02] [ 4.60292169e-01 8.87750922e-01 -5.42395865e-03 4.39076940e+01] [ 1.20149559e-02 -1.20329933e-04 9.99927811e-01 2.18188933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.720281693 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:188.88, Y:43.93, Z:2.19 [[ 8.89878187e-01 -4.56072229e-01 -1.07206946e-02 1.88875381e+02] [ 4.56039956e-01 8.89942761e-01 -5.42589606e-03 4.39300926e+01] [ 1.20154050e-02 -6.06785196e-05 9.99927811e-01 2.18706348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.780281693 meters Centerline goodness : 0.999619 with order 1 Centerline is valid? [True, True] Translation: X:188.93, Y:43.95, Z:2.18 [[ 8.89168517e-01 -4.57454284e-01 -1.07203897e-02 1.88928807e+02] [ 4.57422104e-01 8.89233137e-01 -5.42649830e-03 4.39526050e+01] [ 1.20153007e-02 -7.86717751e-05 9.99927811e-01 2.18339863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.840281693 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:188.98, Y:43.98, Z:2.18 [[ 8.89083322e-01 -4.57619864e-01 -1.07194184e-02 1.88980738e+02] [ 4.57587673e-01 8.89147937e-01 -5.42841636e-03 4.39776226e+01] [ 1.20152999e-02 -7.87592586e-05 9.99927811e-01 2.18291410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.900281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:189.03, Y:44.00, Z:2.19 [[ 8.88913989e-01 -4.57948725e-01 -1.07184363e-02 1.89032528e+02] [ 4.57916535e-01 8.88978604e-01 -5.43035473e-03 4.40027258e+01] [ 1.20152846e-02 -8.10309333e-05 9.99927811e-01 2.18619120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96028169299998 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:189.09, Y:44.03, Z:2.19 [[ 8.87920550e-01 -4.59871975e-01 -1.07174432e-02 1.89085020e+02] [ 4.59839901e-01 8.87985222e-01 -5.43231401e-03 4.40263685e+01] [ 1.20151002e-02 -1.04844802e-04 9.99927811e-01 2.19095355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.020281693 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:189.14, Y:44.06, Z:2.19 [[ 8.88612212e-01 -4.58534057e-01 -1.07170263e-02 1.89135392e+02] [ 4.58501876e-01 8.88676832e-01 -5.43313634e-03 4.40554717e+01] [ 1.20152511e-02 -8.58253777e-05 9.99927811e-01 2.19232430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.080281693 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:189.19, Y:44.08, Z:2.19 [[ 8.90467101e-01 -4.54921433e-01 -1.07160099e-02 1.89185111e+02] [ 4.54888965e-01 8.90531577e-01 -5.43514035e-03 4.40849187e+01] [ 1.20155070e-02 -3.47809961e-05 9.99927811e-01 2.19116777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.140281693 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:189.23, Y:44.12, Z:2.19 [[ 8.91070538e-01 -4.53738344e-01 -1.07149990e-02 1.89232807e+02] [ 4.53705766e-01 8.91134959e-01 -5.43713251e-03 4.41170927e+01] [ 1.20155457e-02 -1.65882564e-05 9.99927811e-01 2.18940922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.200281693 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:189.28, Y:44.15, Z:2.19 [[ 8.89105762e-01 -4.57576379e-01 -1.07145622e-02 1.89282749e+02] [ 4.57544070e-01 8.89170317e-01 -5.43799321e-03 4.41464468e+01] [ 1.20153679e-02 -6.74332945e-05 9.99927811e-01 2.18971935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.260281693 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:189.34, Y:44.17, Z:2.19 [[ 8.85294711e-01 -4.64906973e-01 -1.07135726e-02 1.89335070e+02] [ 4.64875174e-01 8.85359520e-01 -5.43994217e-03 4.41725976e+01] [ 1.20144305e-02 -1.64521888e-04 9.99927811e-01 2.19381283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.320281693 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:189.39, Y:44.19, Z:2.19 [[ 8.81133209e-01 -4.72746768e-01 -1.07126723e-02 1.89389381e+02] [ 4.72715525e-01 8.81198287e-01 -5.44171449e-03 4.41939636e+01] [ 1.20125414e-02 -2.69171160e-04 9.99927811e-01 2.19011200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.380281693 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:189.45, Y:44.21, Z:2.19 [[ 8.78984294e-01 -4.76730398e-01 -1.07116340e-02 1.89445472e+02] [ 4.76699424e-01 8.79049501e-01 -5.44375747e-03 4.42128841e+01] [ 1.20112612e-02 -3.21252463e-04 9.99927811e-01 2.18573238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.440281693 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:189.50, Y:44.22, Z:2.20 [[ 8.78270931e-01 -4.78043358e-01 -1.07107369e-02 1.89504262e+02] [ 4.78012460e-01 8.78336174e-01 -5.44552203e-03 4.42247089e+01] [ 1.20108233e-02 -3.37222001e-04 9.99927811e-01 2.19579894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.500281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:189.56, Y:44.23, Z:2.19 [[ 8.81213222e-01 -4.72597656e-01 -1.07104186e-02 1.89564522e+02] [ 4.72566348e-01 8.81278269e-01 -5.44614809e-03 4.42347636e+01] [ 1.20126960e-02 -2.62165676e-04 9.99927811e-01 2.19341287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.560281693 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:189.62, Y:44.25, Z:2.20 [[ 8.87019763e-01 -4.61607245e-01 -1.07094306e-02 1.89623068e+02] [ 4.61575106e-01 8.87084404e-01 -5.44809017e-03 4.42468915e+01] [ 1.20150467e-02 -1.10642914e-04 9.99927811e-01 2.19744520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.620281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:189.68, Y:44.26, Z:2.20 [[ 8.94727915e-01 -4.46483245e-01 -1.07084229e-02 1.89679130e+02] [ 4.46449990e-01 8.94791989e-01 -5.45007010e-03 4.42648350e+01] [ 1.20151760e-02 9.55545542e-05 9.99927811e-01 2.20223145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68028169299998 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:189.73, Y:44.29, Z:2.20 [[ 9.02553233e-01 -4.30445132e-01 -1.07074237e-02 1.89731136e+02] [ 4.30410716e-01 9.02616691e-01 -5.45203251e-03 4.42890151e+01] [ 1.20115002e-02 3.12159677e-04 9.99927811e-01 2.20155724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.740281693 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:189.78, Y:44.32, Z:2.20 [[ 9.06446053e-01 -4.22185876e-01 -1.07069941e-02 1.89781103e+02] [ 4.22150872e-01 9.06509188e-01 -5.45287606e-03 4.43183314e+01] [ 1.20081158e-02 4.22771097e-04 9.99927811e-01 2.19911711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.800281693 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:189.83, Y:44.35, Z:2.20 [[ 9.10243222e-01 -4.13935573e-01 -1.07059899e-02 1.89827967e+02] [ 4.13899974e-01 9.10306023e-01 -5.45484683e-03 4.43529549e+01] [ 1.20036823e-02 5.34028399e-04 9.99927811e-01 2.19805564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.860281693 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:189.87, Y:44.39, Z:2.21 [[ 9.11341336e-01 -4.11512290e-01 -1.07053106e-02 1.89873557e+02] [ 4.11476509e-01 9.11404034e-01 -5.45617968e-03 4.43919237e+01] [ 1.20021483e-02 5.67458243e-04 9.99927811e-01 2.20505397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.920281693 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:189.92, Y:44.43, Z:2.21 [[ 9.10587645e-01 -4.13177389e-01 -1.07044430e-02 1.89918745e+02] [ 4.13141702e-01 9.10650397e-01 -5.45788126e-03 4.44305535e+01] [ 1.20030784e-02 5.47427418e-04 9.99927811e-01 2.20991702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.980281693 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:189.97, Y:44.47, Z:2.20 [[ 9.08067125e-01 -4.18687870e-01 -1.07034472e-02 1.89965034e+02] [ 4.18652541e-01 9.08130079e-01 -5.45983346e-03 4.44676864e+01] [ 1.20060884e-02 4.76869896e-04 9.99927811e-01 2.20449399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.040281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:190.01, Y:44.50, Z:2.20 [[ 9.04554559e-01 -4.26223542e-01 -1.07024448e-02 1.90012174e+02] [ 4.26188715e-01 9.04617791e-01 -5.46179777e-03 4.45020041e+01] [ 1.20095687e-02 3.79232891e-04 9.99927811e-01 2.20378079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.100281693 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:190.06, Y:44.54, Z:2.21 [[ 9.02731227e-01 -4.30071867e-01 -1.07014337e-02 1.90059180e+02] [ 4.30037286e-01 9.02794595e-01 -5.46377815e-03 4.45373418e+01] [ 1.20110137e-02 3.30307672e-04 9.99927811e-01 2.20783061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.160281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:190.11, Y:44.57, Z:2.21 [[ 9.02426264e-01 -4.30711417e-01 -1.07011193e-02 1.90106203e+02] [ 4.30676873e-01 9.02489652e-01 -5.46439378e-03 4.45709520e+01] [ 1.20112262e-02 3.22487859e-04 9.99927811e-01 2.20746925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.220281693 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:190.15, Y:44.60, Z:2.21 [[ 9.00919488e-01 -4.33854321e-01 -1.07006878e-02 1.90154969e+02] [ 4.33819989e-01 9.00982990e-01 -5.46523855e-03 4.46024431e+01] [ 1.20122551e-02 2.81567642e-04 9.99927811e-01 2.20585684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.280281693 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:190.21, Y:44.63, Z:2.21 [[ 8.98484722e-01 -4.38874379e-01 -1.06997015e-02 1.90206354e+02] [ 4.38840378e-01 8.98548403e-01 -5.46716884e-03 4.46268430e+01] [ 1.20136001e-02 2.16706609e-04 9.99927811e-01 2.20679243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.340281693 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:190.26, Y:44.66, Z:2.21 [[ 8.97731266e-01 -4.40413556e-01 -1.06992728e-02 1.90256723e+02] [ 4.40379654e-01 8.97794999e-01 -5.46800773e-03 4.46566994e+01] [ 1.20139384e-02 1.97059434e-04 9.99927811e-01 2.20818626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.400281693 meters Centerline goodness : 0.999382 with order 1 Centerline is valid? [True, True] Translation: X:190.31, Y:44.69, Z:2.21 [[ 8.99871746e-01 -4.36023378e-01 -1.06982971e-02 1.90305681e+02] [ 4.35989143e-01 8.99935302e-01 -5.46991609e-03 4.46857219e+01] [ 1.20127865e-02 2.57881563e-04 9.99927811e-01 2.20868286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46028169299998 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:190.35, Y:44.72, Z:2.21 [[ 9.01694179e-01 -4.32242020e-01 -1.06978756e-02 1.90353491e+02] [ 4.32207508e-01 9.01757584e-01 -5.47074027e-03 4.47191281e+01] [ 1.20115743e-02 3.09232495e-04 9.99927811e-01 2.20787973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.520281693 meters Centerline goodness : 0.999428 with order 1 Centerline is valid? [True, True] Translation: X:190.40, Y:44.75, Z:2.21 [[ 9.02151805e-01 -4.31286079e-01 -1.06975780e-02 1.90400613e+02] [ 4.31251493e-01 9.02215171e-01 -5.47132224e-03 4.47548354e+01] [ 1.20112222e-02 3.22616771e-04 9.99927811e-01 2.21065295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.580281693 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:190.45, Y:44.79, Z:2.21 [[ 9.00273012e-01 -4.35194309e-01 -1.06965809e-02 1.90448365e+02] [ 4.35159975e-01 9.00336514e-01 -5.47327074e-03 4.47865549e+01] [ 1.20124587e-02 2.72714035e-04 9.99927811e-01 2.21242063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.640281693 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:190.50, Y:44.82, Z:2.22 [[ 8.98001003e-01 -4.39863378e-01 -1.06961510e-02 1.90498085e+02] [ 4.39829365e-01 8.98064677e-01 -5.47411081e-03 4.48172226e+01] [ 1.20136963e-02 2.11275693e-04 9.99927811e-01 2.21544931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.700281693 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:190.55, Y:44.85, Z:2.22 [[ 8.96562816e-01 -4.42787456e-01 -1.06951173e-02 1.90546677e+02] [ 4.42753626e-01 8.96626588e-01 -5.47612975e-03 4.48494309e+01] [ 1.20142881e-02 1.74392354e-04 9.99927811e-01 2.21621419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.760281693 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:190.60, Y:44.88, Z:2.21 [[ 8.95740680e-01 -4.44448277e-01 -1.06940705e-02 1.90597512e+02] [ 4.44414542e-01 8.95804501e-01 -5.47817310e-03 4.48774764e+01] [ 1.20145611e-02 1.54422040e-04 9.99927811e-01 2.21081557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.820281693 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:190.65, Y:44.91, Z:2.21 [[ 8.94228997e-01 -4.47482008e-01 -1.06935848e-02 1.90648071e+02] [ 4.47448477e-01 8.94292927e-01 -5.47912120e-03 4.49068926e+01] [ 1.20150054e-02 1.14760843e-04 9.99927811e-01 2.21450166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.880281693 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:190.70, Y:44.93, Z:2.22 [[ 8.92111090e-01 -4.51689575e-01 -1.06925663e-02 1.90700956e+02] [ 4.51656322e-01 8.92175165e-01 -5.48110808e-03 4.49308850e+01] [ 1.20154014e-02 6.03921524e-05 9.99927811e-01 2.21670374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.940281693 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:190.75, Y:44.96, Z:2.22 [[ 8.89697076e-01 -4.56426104e-01 -1.06922505e-02 1.90752828e+02] [ 4.56393185e-01 8.89761323e-01 -5.48172406e-03 4.49559526e+01] [ 1.20155529e-02 -2.79637233e-06 9.99927811e-01 2.21664202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.000281693 meters Centerline goodness : 0.999090 with order 1 Centerline is valid? [True, True] Translation: X:190.81, Y:44.98, Z:2.21 [[ 8.87700658e-01 -4.60296904e-01 -1.06912146e-02 1.90807196e+02] [ 4.60264241e-01 8.87765035e-01 -5.48374360e-03 4.49759532e+01] [ 1.20154367e-02 -5.28609706e-05 9.99927811e-01 2.21404158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.060281693 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:190.86, Y:45.00, Z:2.21 [[ 8.87599781e-01 -4.60491421e-01 -1.06901895e-02 1.90861001e+02] [ 4.60458747e-01 8.87664153e-01 -5.48574131e-03 4.49980439e+01] [ 1.20154348e-02 -5.32484594e-05 9.99927811e-01 2.21387884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.120281693 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:190.91, Y:45.02, Z:2.22 [[ 8.88955282e-01 -4.57869248e-01 -1.06891969e-02 1.90914514e+02] [ 4.57836361e-01 8.89019545e-01 -5.48767470e-03 4.50217757e+01] [ 1.20155424e-02 -1.56055941e-05 9.99927811e-01 2.21765295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18028169299998 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:190.97, Y:45.04, Z:2.22 [[ 8.88337356e-01 -4.59066989e-01 -1.06883337e-02 1.90969417e+02] [ 4.59034169e-01 8.88401654e-01 -5.48935549e-03 4.50419215e+01] [ 1.20155152e-02 -2.99108223e-05 9.99927811e-01 2.22186792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.240281693 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:191.03, Y:45.06, Z:2.22 [[ 8.87052962e-01 -4.61543957e-01 -1.06873375e-02 1.91025353e+02] [ 4.61511293e-01 8.87117338e-01 -5.49129431e-03 4.50609958e+01] [ 1.20153961e-02 -6.12580514e-05 9.99927811e-01 2.22134532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.300281693 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:191.08, Y:45.08, Z:2.22 [[ 8.86298214e-01 -4.62991660e-01 -1.06863378e-02 1.91081089e+02] [ 4.62959078e-01 8.86362633e-01 -5.49323894e-03 4.50797311e+01] [ 1.20152944e-02 -7.86892517e-05 9.99927811e-01 2.22391020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.360281693 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:191.13, Y:45.10, Z:2.22 [[ 8.88857008e-01 -4.58060086e-01 -1.06853338e-02 1.91134919e+02] [ 4.58027123e-01 8.88921232e-01 -5.49519124e-03 4.51008999e+01] [ 1.20155479e-02 -9.73346458e-06 9.99927811e-01 2.22413985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.420281693 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:191.18, Y:45.13, Z:2.22 [[ 8.97014318e-01 -4.41872334e-01 -1.06842922e-02 1.91183268e+02] [ 4.41838188e-01 8.97077921e-01 -5.49721576e-03 4.51304870e+01] [ 1.20137102e-02 2.10352945e-04 9.99927811e-01 2.22343171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.480281693 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:191.23, Y:45.16, Z:2.23 [[ 8.99379200e-01 -4.37038796e-01 -1.06838424e-02 1.91232283e+02] [ 4.37004298e-01 8.99442613e-01 -5.49808986e-03 4.51611398e+01] [ 1.20123817e-02 2.75982624e-04 9.99927811e-01 2.22552766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.540281693 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:191.28, Y:45.20, Z:2.23 [[ 9.00619232e-01 -4.34477707e-01 -1.06827778e-02 1.91279014e+02] [ 4.34443004e-01 9.00682533e-01 -5.50015746e-03 4.51973015e+01] [ 1.20114872e-02 3.12489494e-04 9.99927811e-01 2.23110678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.600281693 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:191.33, Y:45.23, Z:2.23 [[ 8.99335482e-01 -4.37128792e-01 -1.06822833e-02 1.91325308e+02] [ 4.37094264e-01 8.99398878e-01 -5.50111780e-03 4.52342919e+01] [ 1.20123306e-02 2.78185685e-04 9.99927811e-01 2.22684357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.660281693 meters Centerline goodness : 0.999175 with order 1 Centerline is valid? [True, True] Translation: X:191.37, Y:45.27, Z:2.22 [[ 8.97214218e-01 -4.41466372e-01 -1.06812510e-02 1.91372220e+02] [ 4.41432127e-01 8.97277768e-01 -5.50312148e-03 4.52700406e+01] [ 1.20134921e-02 2.22431509e-04 9.99927811e-01 2.22366999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.720281693 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:191.42, Y:45.30, Z:2.22 [[ 8.95548184e-01 -4.44836338e-01 -1.06809305e-02 1.91420201e+02] [ 4.44802325e-01 8.95611858e-01 -5.50374338e-03 4.53023567e+01] [ 1.20142331e-02 1.77964673e-04 9.99927811e-01 2.21854623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.780281693 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:191.47, Y:45.34, Z:2.22 [[ 8.96429022e-01 -4.43058611e-01 -1.06806146e-02 1.91467438e+02] [ 4.43024464e-01 8.96492625e-01 -5.50435637e-03 4.53399507e+01] [ 1.20138447e-02 2.02491247e-04 9.99927811e-01 2.22451468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.840281693 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:191.51, Y:45.38, Z:2.23 [[ 8.96519204e-01 -4.42876122e-01 -1.06798052e-02 1.91511297e+02] [ 4.42841943e-01 8.96582789e-01 -5.50592626e-03 4.53811509e+01] [ 1.20137728e-02 2.06702915e-04 9.99927811e-01 2.22783344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.900281693 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:191.56, Y:45.42, Z:2.23 [[ 8.92925363e-01 -4.50078060e-01 -1.06787423e-02 1.91557065e+02] [ 4.50044369e-01 8.92989209e-01 -5.50798702e-03 4.54174839e+01] [ 1.20150258e-02 1.12313455e-04 9.99927811e-01 2.23352657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96028169299998 meters Centerline goodness : 0.999175 with order 1 Centerline is valid? [True, True] Translation: X:191.60, Y:45.45, Z:2.23 [[ 8.84810911e-01 -4.65827890e-01 -1.06784152e-02 1.91604918e+02] [ 4.65795328e-01 8.84875340e-01 -5.50862119e-03 4.54516477e+01] [ 1.20151356e-02 -9.98677718e-05 9.99927811e-01 2.23099129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.020281693 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:191.66, Y:45.48, Z:2.24 [[ 8.76350840e-01 -4.81554980e-01 -1.06774174e-02 1.91656089e+02] [ 4.81523551e-01 8.76415828e-01 -5.51055442e-03 4.54780811e+01] [ 1.20114926e-02 -3.12248971e-04 9.99927811e-01 2.23587935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.080281693 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:191.71, Y:45.50, Z:2.23 [[ 8.70180146e-01 -4.92618034e-01 -1.06763991e-02 1.91709579e+02] [ 4.92587407e-01 8.70245516e-01 -5.51252668e-03 4.54984354e+01] [ 1.20066585e-02 -4.62168475e-04 9.99927811e-01 2.23470718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.140281693 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:191.77, Y:45.51, Z:2.23 [[ 8.64995921e-01 -5.01665312e-01 -1.06757115e-02 1.91768885e+02] [ 5.01635351e-01 8.65061600e-01 -5.51385794e-03 4.55099148e+01] [ 1.20012594e-02 -5.85849679e-04 9.99927811e-01 2.22908366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.200281693 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:191.83, Y:45.52, Z:2.23 [[ 8.63867504e-01 -5.03605982e-01 -1.06747350e-02 1.91828623e+02] [ 5.03576146e-01 8.63933239e-01 -5.51574790e-03 4.55180483e+01] [ 1.20000220e-02 -6.10666516e-04 9.99927811e-01 2.22750040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.260281693 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:191.89, Y:45.53, Z:2.23 [[ 8.67551300e-01 -4.97233146e-01 -1.06743362e-02 1.91889146e+02] [ 4.97202817e-01 8.67616809e-01 -5.51651943e-03 4.55295716e+01] [ 1.20042299e-02 -5.21446439e-04 9.99927811e-01 2.22642294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.320281693 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:191.95, Y:45.54, Z:2.23 [[ 8.73968728e-01 -4.85864939e-01 -1.06734842e-02 1.91948682e+02] [ 4.85833738e-01 8.74033826e-01 -5.51816748e-03 4.55422414e+01] [ 1.20100703e-02 -3.62832909e-04 9.99927811e-01 2.23081862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.380281693 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:192.00, Y:45.56, Z:2.23 [[ 8.80585747e-01 -4.73766649e-01 -1.06726254e-02 1.92004857e+02] [ 4.73734532e-01 8.80650399e-01 -5.51982799e-03 4.55595819e+01] [ 1.20139622e-02 -1.95309345e-04 9.99927811e-01 2.23153052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.440281693 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:192.06, Y:45.58, Z:2.23 [[ 8.85288468e-01 -4.64919827e-01 -1.06716049e-02 1.92058116e+02] [ 4.64887041e-01 8.85352782e-01 -5.52180015e-03 4.55802625e+01] [ 1.20153295e-02 -7.27048496e-05 9.99927811e-01 2.22977800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.500281693 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:192.11, Y:45.60, Z:2.24 [[ 8.87095701e-01 -4.61462180e-01 -1.06711595e-02 1.92112042e+02] [ 4.61429132e-01 8.87159882e-01 -5.52266085e-03 4.56037466e+01] [ 1.20155237e-02 -2.48551683e-05 9.99927811e-01 2.23731603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.560281693 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:192.17, Y:45.63, Z:2.24 [[ 8.87017138e-01 -4.61613194e-01 -1.06702905e-02 1.92166263e+02] [ 4.61580138e-01 8.87081314e-01 -5.52433929e-03 4.56253108e+01] [ 1.20155232e-02 -2.50105421e-05 9.99927811e-01 2.23889877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.620281693 meters Centerline goodness : 0.999430 with order 1 Centerline is valid? [True, True] Translation: X:192.22, Y:45.65, Z:2.24 [[ 8.87284606e-01 -4.61098898e-01 -1.06692859e-02 1.92219004e+02] [ 4.61065781e-01 8.87348751e-01 -5.52627882e-03 4.56480471e+01] [ 1.20155386e-02 -1.58605210e-05 9.99927811e-01 2.24007541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68028169299998 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:192.27, Y:45.67, Z:2.25 [[ 8.90192264e-01 -4.55460106e-01 -1.06688513e-02 1.92270712e+02] [ 4.55426573e-01 8.90256192e-01 -5.52711769e-03 4.56743861e+01] [ 1.20153926e-02 6.13190127e-05 9.99927811e-01 2.24523209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.740281693 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:192.32, Y:45.70, Z:2.25 [[ 8.93032863e-01 -4.49864983e-01 -1.06678622e-02 1.92320916e+02] [ 4.49831026e-01 8.93096567e-01 -5.52902610e-03 4.57034196e+01] [ 1.20147464e-02 1.38866590e-04 9.99927811e-01 2.24683437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.800281693 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:192.36, Y:45.74, Z:2.24 [[ 8.97562752e-01 -4.40757670e-01 -1.06668812e-02 1.92364723e+02] [ 4.40723045e-01 8.97626095e-01 -5.53091816e-03 4.57421351e+01] [ 1.20126655e-02 2.63205783e-04 9.99927811e-01 2.24370997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.860281693 meters Centerline goodness : 0.999388 with order 1 Centerline is valid? [True, True] Translation: X:192.41, Y:45.78, Z:2.25 [[ 9.00167793e-01 -4.35412644e-01 -1.06664595e-02 1.92410489e+02] [ 4.35377633e-01 9.00230924e-01 -5.53173125e-03 4.57793369e+01] [ 1.20108624e-02 3.35548425e-04 9.99927811e-01 2.24660559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.920281693 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:192.46, Y:45.82, Z:2.24 [[ 9.01588517e-01 -4.32463169e-01 -1.06655126e-02 1.92456224e+02] [ 4.32427929e-01 9.01651521e-01 -5.53355633e-03 4.58180960e+01] [ 1.20096350e-02 3.76925321e-04 9.99927811e-01 2.24470464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.980281693 meters Centerline goodness : 0.999384 with order 1 Centerline is valid? [True, True] Translation: X:192.50, Y:45.87, Z:2.24 [[ 9.02368269e-01 -4.30833812e-01 -1.06645710e-02 1.92495846e+02] [ 4.30798437e-01 9.02431198e-01 -5.53537033e-03 4.58677421e+01] [ 1.20088663e-02 4.00662002e-04 9.99927811e-01 2.24130247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.040281693 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:192.54, Y:45.91, Z:2.25 [[ 9.00061003e-01 -4.35633424e-01 -1.06635472e-02 1.92540941e+02] [ 4.35598362e-01 9.00124105e-01 -5.53734196e-03 4.59065240e+01] [ 1.20107671e-02 3.38921843e-04 9.99927811e-01 2.24578568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.100281693 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:192.59, Y:45.94, Z:2.24 [[ 8.95949379e-01 -4.44028159e-01 -1.06632304e-02 1.92586103e+02] [ 4.43993681e-01 8.96012802e-01 -5.53795198e-03 4.59423987e+01] [ 1.20133976e-02 2.27317708e-04 9.99927811e-01 2.24221127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.160281693 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:192.64, Y:45.97, Z:2.24 [[ 8.94687203e-01 -4.46565912e-01 -1.06627933e-02 1.92636688e+02] [ 4.46531604e-01 8.94750719e-01 -5.53879354e-03 4.59708193e+01] [ 1.20139783e-02 1.94213523e-04 9.99927811e-01 2.24450314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.220281693 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:192.69, Y:46.00, Z:2.25 [[ 8.91709427e-01 -4.52482731e-01 -1.06618650e-02 1.92686728e+02] [ 4.52448823e-01 8.91773158e-01 -5.54057978e-03 4.59998052e+01] [ 1.20149817e-02 1.16638948e-04 9.99927811e-01 2.24891270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.280281693 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:192.74, Y:46.03, Z:2.25 [[ 8.91324519e-01 -4.53240494e-01 -1.06609371e-02 1.92736665e+02] [ 4.53206619e-01 8.91388267e-01 -5.54236470e-03 4.60300814e+01] [ 1.20150583e-02 1.08438302e-04 9.99927811e-01 2.24869738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.340281693 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:192.79, Y:46.06, Z:2.25 [[ 8.91207853e-01 -4.53469875e-01 -1.06600061e-02 1.92786873e+02] [ 4.53435995e-01 8.91271598e-01 -5.54415466e-03 4.60598200e+01] [ 1.20150678e-02 1.07363676e-04 9.99927811e-01 2.24879898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.400281693 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:192.84, Y:46.09, Z:2.25 [[ 8.88795536e-01 -4.58179964e-01 -1.06590779e-02 1.92836963e+02] [ 4.58146400e-01 8.88859448e-01 -5.54593875e-03 4.60888511e+01] [ 1.20154601e-02 4.57874412e-05 9.99927811e-01 2.25304713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46028169299998 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:192.89, Y:46.12, Z:2.25 [[ 8.87832775e-01 -4.60042792e-01 -1.06580523e-02 1.92886655e+02] [ 4.60009339e-01 8.87896745e-01 -5.54790904e-03 4.61176139e+01] [ 1.20155255e-02 2.28119010e-05 9.99927811e-01 2.24633670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.520281693 meters Centerline goodness : 0.999470 with order 1 Centerline is valid? [True, True] Translation: X:192.94, Y:46.15, Z:2.24 [[ 8.87025341e-01 -4.61597725e-01 -1.06576113e-02 1.92938588e+02] [ 4.61564374e-01 8.87089364e-01 -5.54875603e-03 4.61453210e+01] [ 1.20155468e-02 2.71352972e-06 9.99927811e-01 2.23741688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.580281693 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:192.99, Y:46.17, Z:2.25 [[ 8.85405709e-01 -4.64696853e-01 -1.06567387e-02 1.92991450e+02] [ 4.64663705e-01 8.85469838e-01 -5.55043137e-03 4.61715826e+01] [ 1.20154887e-02 -3.74160733e-05 9.99927811e-01 2.24714619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.640281693 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:193.04, Y:46.19, Z:2.25 [[ 8.83965425e-01 -4.67430828e-01 -1.06558645e-02 1.93044866e+02] [ 4.67397859e-01 8.84029646e-01 -5.55210921e-03 4.61944045e+01] [ 1.20153271e-02 -7.26556697e-05 9.99927811e-01 2.24867668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.700281693 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:193.10, Y:46.22, Z:2.25 [[ 8.83922741e-01 -4.67511564e-01 -1.06548344e-02 1.93097116e+02] [ 4.67478577e-01 8.83986953e-01 -5.55408525e-03 4.62190422e+01] [ 1.20153337e-02 -7.15245849e-05 9.99927811e-01 2.24512386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.760281693 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:193.15, Y:46.24, Z:2.25 [[ 8.85831805e-01 -4.63884140e-01 -1.06545160e-02 1.93147771e+02] [ 4.63850882e-01 8.85895877e-01 -5.55469604e-03 4.62449677e+01] [ 1.20155272e-02 -2.15802261e-05 9.99927811e-01 2.24744134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.820281693 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:193.20, Y:46.27, Z:2.25 [[ 8.86481443e-01 -4.62641488e-01 -1.06538291e-02 1.93198384e+02] [ 4.62608125e-01 8.86545461e-01 -5.55601316e-03 4.62739942e+01] [ 1.20155460e-02 -3.24534192e-06 9.99927811e-01 2.25121592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.880281693 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:193.25, Y:46.30, Z:2.26 [[ 8.84906613e-01 -4.65646634e-01 -1.06535145e-02 1.93250433e+02] [ 4.65613481e-01 8.84970740e-01 -5.55661630e-03 4.62998313e+01] [ 1.20154683e-02 -4.33334789e-05 9.99927811e-01 2.25922912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.940281693 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:193.30, Y:46.32, Z:2.26 [[ 8.82239919e-01 -4.70679560e-01 -1.06525171e-02 1.93302195e+02] [ 4.70646750e-01 8.82304222e-01 -5.55852789e-03 4.63248801e+01] [ 1.20150462e-02 -1.09617332e-04 9.99927811e-01 2.26013429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.000281693 meters Centerline goodness : 0.999530 with order 1 Centerline is valid? [True, True] Translation: X:193.35, Y:46.35, Z:2.25 [[ 8.80734396e-01 -4.73490727e-01 -1.06515027e-02 1.93353055e+02] [ 4.73458098e-01 8.80798791e-01 -5.56047093e-03 4.63513166e+01] [ 1.20146621e-02 -1.45742211e-04 9.99927811e-01 2.25400236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.060281693 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:193.41, Y:46.38, Z:2.26 [[ 8.79326148e-01 -4.76100919e-01 -1.06508157e-02 1.93405064e+02] [ 4.76068466e-01 8.79390631e-01 -5.56178665e-03 4.63765627e+01] [ 1.20141992e-02 -1.79893041e-04 9.99927811e-01 2.25753108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.120281693 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:193.46, Y:46.40, Z:2.26 [[ 8.77200797e-01 -4.80005565e-01 -1.06498204e-02 1.93457082e+02] [ 4.79973376e-01 8.77265413e-01 -5.56369183e-03 4.63995433e+01] [ 1.20133221e-02 -2.31155320e-04 9.99927811e-01 2.25548566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18028169299998 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:193.51, Y:46.42, Z:2.25 [[ 8.73297300e-01 -4.87071263e-01 -1.06493913e-02 1.93511618e+02] [ 4.87039586e-01 8.73362169e-01 -5.56451297e-03 4.64209106e+01] [ 1.20110898e-02 -3.27200982e-04 9.99927811e-01 2.25300983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.240281693 meters Centerline goodness : 0.999338 with order 1 Centerline is valid? [True, True] Translation: X:193.57, Y:46.44, Z:2.26 [[ 8.71470688e-01 -4.90331981e-01 -1.06483467e-02 1.93565797e+02] [ 4.90300523e-01 8.71535663e-01 -5.56651112e-03 4.64418903e+01] [ 1.20098524e-02 -3.69838695e-04 9.99927811e-01 2.25589709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.300281693 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:193.62, Y:46.46, Z:2.26 [[ 8.71170790e-01 -4.90864634e-01 -1.06473126e-02 1.93620826e+02] [ 4.90833191e-01 8.71235772e-01 -5.56848848e-03 4.64594611e+01] [ 1.20096937e-02 -3.74949908e-04 9.99927811e-01 2.25613635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.360281693 meters Centerline goodness : 0.999408 with order 1 Centerline is valid? [True, True] Translation: X:193.68, Y:46.48, Z:2.26 [[ 8.73825986e-01 -4.86122197e-01 -1.06468664e-02 1.93675729e+02] [ 4.86090391e-01 8.73890791e-01 -5.56934150e-03 4.64786307e+01] [ 1.20115790e-02 -3.08704109e-04 9.99927811e-01 2.25591596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.420281693 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:193.73, Y:46.50, Z:2.26 [[ 8.77043966e-01 -4.80292148e-01 -1.06458431e-02 1.93729417e+02] [ 4.80259888e-01 8.77108546e-01 -5.57129682e-03 4.65005432e+01] [ 1.20134101e-02 -2.26499151e-04 9.99927811e-01 2.25936452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.480281693 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:193.78, Y:46.52, Z:2.26 [[ 8.79835454e-01 -4.75159181e-01 -1.06455246e-02 1.93782480e+02] [ 4.75126536e-01 8.79899840e-01 -5.57190530e-03 4.65248120e+01] [ 1.20145374e-02 -1.55611418e-04 9.99927811e-01 2.26106088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.540281693 meters Centerline goodness : 0.999427 with order 1 Centerline is valid? [True, True] Translation: X:193.83, Y:46.55, Z:2.26 [[ 8.82262444e-01 -4.70637519e-01 -1.06445149e-02 1.93834135e+02] [ 4.70604520e-01 8.82326650e-01 -5.57383363e-03 4.65501212e+01] [ 1.20151944e-02 -9.17727434e-05 9.99927811e-01 2.25843979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.600281693 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:193.89, Y:46.58, Z:2.26 [[ 8.83257365e-01 -4.68767679e-01 -1.06438299e-02 1.93885538e+02] [ 4.68734529e-01 8.83321493e-01 -5.57514135e-03 4.65759220e+01] [ 1.20153698e-02 -6.48459497e-05 9.99927811e-01 2.25978062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.660281693 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:193.93, Y:46.60, Z:2.27 [[ 8.86163056e-01 -4.63251301e-01 -1.06428344e-02 1.93934899e+02] [ 4.63217730e-01 8.86226964e-01 -5.57704114e-03 4.66037496e+01] [ 1.20155384e-02 1.22182319e-05 9.99927811e-01 2.26589098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.720281693 meters Centerline goodness : 0.999471 with order 1 Centerline is valid? [True, True] Translation: X:193.99, Y:46.63, Z:2.26 [[ 8.86411475e-01 -4.62775794e-01 -1.06424097e-02 1.93986008e+02] [ 4.62742178e-01 8.86475360e-01 -5.57785144e-03 4.66317334e+01] [ 1.20155286e-02 1.95796812e-05 9.99927811e-01 2.26415752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.780281693 meters Centerline goodness : 0.999448 with order 1 Centerline is valid? [True, True] Translation: X:194.04, Y:46.66, Z:2.26 [[ 8.84629307e-01 -4.66173518e-01 -1.06414346e-02 1.94037225e+02] [ 4.66140125e-01 8.84693309e-01 -5.57971106e-03 4.66590289e+01] [ 1.20155195e-02 -2.44237340e-05 9.99927811e-01 2.26003174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.840281693 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:194.09, Y:46.68, Z:2.26 [[ 8.82115250e-01 -4.70913438e-01 -1.06404669e-02 1.94089585e+02] [ 4.70880367e-01 8.82179418e-01 -5.58155597e-03 4.66811933e+01] [ 1.20152306e-02 -8.68112968e-05 9.99927811e-01 2.26391028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.900281693 meters Centerline goodness : 0.999258 with order 1 Centerline is valid? [True, True] Translation: X:194.14, Y:46.70, Z:2.27 [[ 8.80485690e-01 -4.73953308e-01 -1.06400660e-02 1.94142642e+02] [ 4.73920449e-01 8.80549968e-01 -5.58232005e-03 4.67038851e+01] [ 1.20148688e-02 -1.27391939e-04 9.99927811e-01 2.27190210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96028169299998 meters Centerline goodness : 0.999471 with order 1 Centerline is valid? [True, True] Translation: X:194.19, Y:46.73, Z:2.26 [[ 8.81173874e-01 -4.72672628e-01 -1.06391180e-02 1.94194745e+02] [ 4.72639654e-01 8.81238092e-01 -5.58412612e-03 4.67280269e+01] [ 1.20150597e-02 -1.07883017e-04 9.99927811e-01 2.26042110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.020281693 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:194.25, Y:46.75, Z:2.26 [[ 8.80930453e-01 -4.73126157e-01 -1.06384752e-02 1.94247961e+02] [ 4.73093201e-01 8.80994681e-01 -5.58535055e-03 4.67511954e+01] [ 1.20150155e-02 -1.12684896e-04 9.99927811e-01 2.26052092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.080281693 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:194.30, Y:46.78, Z:2.26 [[ 8.80152115e-01 -4.74572544e-01 -1.06374458e-02 1.94299641e+02] [ 4.74539670e-01 8.80216385e-01 -5.58731043e-03 4.67769868e+01] [ 1.20148382e-02 -1.30206913e-04 9.99927811e-01 2.26193521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.140281693 meters Centerline goodness : 0.999322 with order 1 Centerline is valid? [True, True] Translation: X:194.35, Y:46.80, Z:2.26 [[ 8.77945013e-01 -4.78643313e-01 -1.06364081e-02 1.94351221e+02] [ 4.78610713e-01 8.78009422e-01 -5.58928512e-03 4.68028611e+01] [ 1.20141405e-02 -1.83613875e-04 9.99927811e-01 2.26495136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.200281693 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:194.40, Y:46.83, Z:2.27 [[ 8.77582545e-01 -4.79307589e-01 -1.06353625e-02 1.94403715e+02] [ 4.79275014e-01 8.77646967e-01 -5.59127404e-03 4.68271231e+01] [ 1.20140337e-02 -1.90458999e-04 9.99927811e-01 2.26968321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.260281693 meters Centerline goodness : 0.999346 with order 1 Centerline is valid? [True, True] Translation: X:194.45, Y:46.85, Z:2.27 [[ 8.80585876e-01 -4.73767270e-01 -1.06342968e-02 1.94453958e+02] [ 4.73734265e-01 8.80650079e-01 -5.59330009e-03 4.68532613e+01] [ 1.20150169e-02 -1.12449745e-04 9.99927811e-01 2.26652556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.320281693 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:194.51, Y:46.88, Z:2.26 [[ 8.84225321e-01 -4.66939507e-01 -1.06338363e-02 1.94505569e+02] [ 4.66905996e-01 8.84289261e-01 -5.59417550e-03 4.68820330e+01] [ 1.20155288e-02 -1.84903008e-05 9.99927811e-01 2.26043546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.380281693 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:194.56, Y:46.91, Z:2.27 [[ 8.85994991e-01 -4.63572881e-01 -1.06329533e-02 1.94556362e+02] [ 4.63539106e-01 8.86058792e-01 -5.59585334e-03 4.69117027e+01] [ 1.20155076e-02 2.91083538e-05 9.99927811e-01 2.26731246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.440281693 meters Centerline goodness : 0.999281 with order 1 Centerline is valid? [True, True] Translation: X:194.60, Y:46.95, Z:2.27 [[ 8.85533967e-01 -4.64452961e-01 -1.06320330e-02 1.94603430e+02] [ 4.64419229e-01 8.85597790e-01 -5.59760127e-03 4.69460874e+01] [ 1.20155275e-02 1.91454596e-05 9.99927811e-01 2.27491725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.500281693 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:194.65, Y:46.97, Z:2.27 [[ 8.83777766e-01 -4.67786107e-01 -1.06309821e-02 1.94653497e+02] [ 4.67752591e-01 8.83841704e-01 -5.59959649e-03 4.69745631e+01] [ 1.20155188e-02 -2.38705510e-05 9.99927811e-01 2.27490030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.560281693 meters Centerline goodness : 0.999469 with order 1 Centerline is valid? [True, True] Translation: X:194.71, Y:47.00, Z:2.28 [[ 8.78834525e-01 -4.77008262e-01 -1.06299291e-02 1.94705512e+02] [ 4.76975393e-01 8.78898798e-01 -5.60159478e-03 4.70009039e+01] [ 1.20146389e-02 -1.47339718e-04 9.99927811e-01 2.27723311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.620281693 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:194.76, Y:47.02, Z:2.27 [[ 8.75338365e-01 -4.83394015e-01 -1.06288626e-02 1.94758318e+02] [ 4.83361591e-01 8.75402863e-01 -5.60361761e-03 4.70246537e+01] [ 1.20132920e-02 -2.32522478e-04 9.99927811e-01 2.27476983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68028169299998 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:194.81, Y:47.05, Z:2.28 [[ 8.75063982e-01 -4.83890563e-01 -1.06278020e-02 1.94810146e+02] [ 4.83858151e-01 8.75128486e-01 -5.60562846e-03 4.70481848e+01] [ 1.20132030e-02 -2.37065070e-04 9.99927811e-01 2.27515472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.740281693 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:194.86, Y:47.07, Z:2.27 [[ 8.75932526e-01 -4.82316566e-01 -1.06273435e-02 1.94863094e+02] [ 4.82284028e-01 8.75996966e-01 -5.60649763e-03 4.70709463e+01] [ 1.20136273e-02 -2.14484384e-04 9.99927811e-01 2.27316413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.800281693 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:194.92, Y:47.10, Z:2.27 [[ 8.78356902e-01 -4.77887248e-01 -1.06268920e-02 1.94915489e+02] [ 4.77854374e-01 8.78421172e-01 -5.60735326e-03 4.70965655e+01] [ 1.20145695e-02 -1.52849389e-04 9.99927811e-01 2.27082760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.860281693 meters Centerline goodness : 0.998887 with order 1 Centerline is valid? [True, True] Translation: X:194.96, Y:47.13, Z:2.27 [[ 8.84363158e-01 -4.66678579e-01 -1.06258375e-02 1.94963044e+02] [ 4.66644867e-01 8.84426992e-01 -5.60935077e-03 4.71304880e+01] [ 1.20155414e-02 2.21063097e-06 9.99927811e-01 2.26965023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.920281693 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:195.01, Y:47.16, Z:2.27 [[ 8.89735187e-01 -4.56353385e-01 -1.06247686e-02 1.95009867e+02] [ 4.56318907e-01 8.89798611e-01 -5.61137467e-03 4.71639923e+01] [ 1.20146742e-02 1.44354681e-04 9.99927811e-01 2.27062032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.980281693 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:195.05, Y:47.21, Z:2.27 [[ 8.95518967e-01 -4.44896508e-01 -1.06243136e-02 1.95053753e+02] [ 4.44861209e-01 8.95581938e-01 -5.61223598e-03 4.72052216e+01] [ 1.20118076e-02 2.99518758e-04 9.99927811e-01 2.27185723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.040281693 meters Centerline goodness : 0.999200 with order 1 Centerline is valid? [True, True] Translation: X:195.10, Y:47.25, Z:2.28 [[ 8.96587578e-01 -4.42739044e-01 -1.06232652e-02 1.95096818e+02] [ 4.42703570e-01 8.96650450e-01 -5.61421989e-03 4.72472028e+01] [ 1.20109898e-02 3.30682398e-04 9.99927811e-01 2.27666749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.100281693 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:195.14, Y:47.29, Z:2.28 [[ 8.95548708e-01 -4.44836673e-01 -1.06229437e-02 1.95140429e+02] [ 4.44801339e-01 8.95611658e-01 -5.61482818e-03 4.72884282e+01] [ 1.20117137e-02 3.03252554e-04 9.99927811e-01 2.27697379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.160281693 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:195.19, Y:47.33, Z:2.28 [[ 8.93963723e-01 -4.48013434e-01 -1.06218955e-02 1.95185315e+02] [ 4.47978301e-01 8.94026786e-01 -5.61681039e-03 4.73285600e+01] [ 1.20126656e-02 2.62846044e-04 9.99927811e-01 2.27817070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.220281693 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:195.23, Y:47.36, Z:2.28 [[ 8.90289260e-01 -4.55271601e-01 -1.06208312e-02 1.95232900e+02] [ 4.55236958e-01 8.90352594e-01 -5.61882207e-03 4.73630398e+01] [ 1.20143747e-02 1.67382049e-04 9.99927811e-01 2.27584795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.280281693 meters Centerline goodness : 0.999280 with order 1 Centerline is valid? [True, True] Translation: X:195.28, Y:47.39, Z:2.27 [[ 8.87398073e-01 -4.60881634e-01 -1.06197714e-02 1.95280212e+02] [ 4.60847367e-01 8.87461611e-01 -5.62082449e-03 4.73947005e+01] [ 1.20151742e-02 9.38151433e-05 9.99927811e-01 2.27392735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.340281693 meters Centerline goodness : 0.999279 with order 1 Centerline is valid? [True, True] Translation: X:195.33, Y:47.42, Z:2.28 [[ 8.82238105e-01 -4.70683711e-01 -1.06193106e-02 1.95330463e+02] [ 4.70650140e-01 8.82302013e-01 -5.62169481e-03 4.74236792e+01] [ 1.20154793e-02 -3.83066676e-05 9.99927811e-01 2.27550860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.400281693 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:195.38, Y:47.45, Z:2.28 [[ 8.77042345e-01 -4.80295720e-01 -1.06182476e-02 1.95381089e+02] [ 4.80262824e-01 8.77106603e-01 -5.62370203e-03 4.74509695e+01] [ 1.20143751e-02 -1.67324748e-04 9.99927811e-01 2.27739871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46028169299998 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:195.43, Y:47.47, Z:2.28 [[ 8.72683668e-01 -4.88170555e-01 -1.06172041e-02 1.95434951e+02] [ 4.88138215e-01 8.72748208e-01 -5.62567141e-03 4.74738548e+01] [ 1.20124330e-02 -2.73231486e-04 9.99927811e-01 2.28042678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.520281693 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:195.49, Y:47.49, Z:2.28 [[ 8.69332914e-01 -4.94112924e-01 -1.06161604e-02 1.95490080e+02] [ 4.94081001e-01 8.69397662e-01 -5.62764027e-03 4.74913267e+01] [ 1.20103548e-02 -3.52950231e-04 9.99927811e-01 2.28349876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.580281693 meters Centerline goodness : 0.999133 with order 1 Centerline is valid? [True, True] Translation: X:195.55, Y:47.51, Z:2.28 [[ 8.67798587e-01 -4.96802696e-01 -1.06157113e-02 1.95546979e+02] [ 4.96770963e-01 8.67863428e-01 -5.62848732e-03 4.75078995e+01] [ 1.20092352e-02 -3.89183761e-04 9.99927811e-01 2.28437990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.640281693 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:195.60, Y:47.52, Z:2.29 [[ 8.68596382e-01 -4.95406554e-01 -1.06147028e-02 1.95604146e+02] [ 4.95374694e-01 8.68661160e-01 -5.63038857e-03 4.75244647e+01] [ 1.20099114e-02 -3.67720002e-04 9.99927811e-01 2.28675120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.700281693 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:195.66, Y:47.54, Z:2.28 [[ 8.71772751e-01 -4.89795489e-01 -1.06136910e-02 1.95660193e+02] [ 4.89763189e-01 8.71837311e-01 -5.63229513e-03 4.75410110e+01] [ 1.20120846e-02 -2.88113747e-04 9.99927811e-01 2.28286651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.760281693 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:195.71, Y:47.56, Z:2.28 [[ 8.73004971e-01 -4.87595816e-01 -1.06132623e-02 1.95714993e+02] [ 4.87563343e-01 8.73069444e-01 -5.63310291e-03 4.75615524e+01] [ 1.20127924e-02 -2.56910806e-04 9.99927811e-01 2.28455503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.820281693 meters Centerline goodness : 0.999406 with order 1 Centerline is valid? [True, True] Translation: X:195.77, Y:47.58, Z:2.29 [[ 8.73905079e-01 -4.85980753e-01 -1.06122649e-02 1.95771301e+02] [ 4.85948139e-01 8.73969481e-01 -5.63498123e-03 4.75765482e+01] [ 1.20132881e-02 -2.32571674e-04 9.99927811e-01 2.28908204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.880281693 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:195.83, Y:47.60, Z:2.29 [[ 8.77929896e-01 -4.78671585e-01 -1.06118314e-02 1.95825745e+02] [ 4.78638425e-01 8.77994018e-01 -5.63579763e-03 4.75982946e+01] [ 1.20148206e-02 -1.31395021e-04 9.99927811e-01 2.28705001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.940281693 meters Centerline goodness : 0.999382 with order 1 Centerline is valid? [True, True] Translation: X:195.88, Y:47.63, Z:2.29 [[ 8.84643974e-01 -4.66146383e-01 -1.06107789e-02 1.95876257e+02] [ 4.66112290e-01 8.84707606e-01 -5.63777841e-03 4.76258996e+01] [ 1.20154668e-02 4.16122372e-05 9.99927811e-01 2.28788384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.000281693 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:195.93, Y:47.65, Z:2.29 [[ 8.86393661e-01 -4.62810666e-01 -1.06097050e-02 1.95925883e+02] [ 4.62776310e-01 8.86457150e-01 -5.63979861e-03 4.76535253e+01] [ 1.20152078e-02 8.91615838e-05 9.99927811e-01 2.28882952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.060281693 meters Centerline goodness : 0.999344 with order 1 Centerline is valid? [True, True] Translation: X:195.97, Y:47.68, Z:2.29 [[ 8.90267436e-01 -4.55314547e-01 -1.06092364e-02 1.95973738e+02] [ 4.55279646e-01 8.90330628e-01 -5.64067998e-03 4.76849574e+01] [ 1.20140118e-02 1.91544294e-04 9.99927811e-01 2.29058192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.120281693 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:196.02, Y:47.72, Z:2.29 [[ 8.91288762e-01 -4.53312036e-01 -1.06085210e-02 1.96022031e+02] [ 4.53276977e-01 8.91351867e-01 -5.64202509e-03 4.77180404e+01] [ 1.20135229e-02 2.20075216e-04 9.99927811e-01 2.28832820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18028169299998 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:196.07, Y:47.75, Z:2.29 [[ 8.91102547e-01 -4.53678005e-01 -1.06075037e-02 1.96070888e+02] [ 4.53642949e-01 8.91165653e-01 -5.64393710e-03 4.77486431e+01] [ 1.20135731e-02 2.17307448e-04 9.99927811e-01 2.28863410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.240281693 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:196.12, Y:47.78, Z:2.29 [[ 8.90321753e-01 -4.55208391e-01 -1.06064349e-02 1.96119715e+02] [ 4.55173420e-01 8.90384906e-01 -5.64594505e-03 4.77779422e+01] [ 1.20138911e-02 1.98940470e-04 9.99927811e-01 2.28846876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.300281693 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:196.17, Y:47.81, Z:2.29 [[ 8.90503342e-01 -4.54853066e-01 -1.06059718e-02 1.96167091e+02] [ 4.54818059e-01 8.90566475e-01 -5.64681481e-03 4.78115578e+01] [ 1.20137939e-02 2.04719955e-04 9.99927811e-01 2.29315635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.360281693 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:196.21, Y:47.84, Z:2.29 [[ 8.90764454e-01 -4.54341527e-01 -1.06049192e-02 1.96214725e+02] [ 4.54306461e-01 8.90827554e-01 -5.64879098e-03 4.78432120e+01] [ 1.20136345e-02 2.13858916e-04 9.99927811e-01 2.29260895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.420281693 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:196.26, Y:47.88, Z:2.29 [[ 8.89573618e-01 -4.56668724e-01 -1.06044639e-02 1.96261153e+02] [ 4.56633812e-01 8.89636804e-01 -5.64964561e-03 4.78791825e+01] [ 1.20141378e-02 1.83418927e-04 9.99927811e-01 2.29077781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.480281693 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:196.31, Y:47.92, Z:2.30 [[ 8.87696770e-01 -4.60306433e-01 -1.06034293e-02 1.96307719e+02] [ 4.60271758e-01 8.87760085e-01 -5.65158664e-03 4.79156059e+01] [ 1.20147630e-02 1.36436163e-04 9.99927811e-01 2.29526151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.540281693 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:196.35, Y:47.95, Z:2.30 [[ 8.86675283e-01 -4.62271042e-01 -1.06031101e-02 1.96353402e+02] [ 4.62236499e-01 8.86738672e-01 -5.65218541e-03 4.79499363e+01] [ 1.20150294e-02 1.10508600e-04 9.99927811e-01 2.29957401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.600281693 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:196.40, Y:47.98, Z:2.30 [[ 8.84281442e-01 -4.66833926e-01 -1.06026674e-02 1.96402285e+02] [ 4.66799700e-01 8.84345003e-01 -5.65301579e-03 4.79817080e+01] [ 1.20154355e-02 4.95350047e-05 9.99927811e-01 2.29768730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.660281693 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:196.45, Y:48.01, Z:2.30 [[ 8.82391084e-01 -4.70397260e-01 -1.06015947e-02 1.96451880e+02] [ 4.70363267e-01 8.82454768e-01 -5.65502679e-03 4.80092957e+01] [ 1.20155369e-02 3.34451577e-06 9.99927811e-01 2.29629616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.720281693 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:196.50, Y:48.04, Z:2.30 [[ 8.82013820e-01 -4.71104275e-01 -1.06011320e-02 1.96502439e+02] [ 4.71070323e-01 8.82077526e-01 -5.65589406e-03 4.80382040e+01] [ 1.20155361e-02 -5.30193595e-06 9.99927811e-01 2.29978167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.780281693 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:196.55, Y:48.07, Z:2.30 [[ 8.83892995e-01 -4.67569046e-01 -1.06000805e-02 1.96550982e+02] [ 4.67534815e-01 8.83956552e-01 -5.65786407e-03 4.80704738e+01] [ 1.20154527e-02 4.50397559e-05 9.99927811e-01 2.30262003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.840281693 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:196.60, Y:48.11, Z:2.30 [[ 8.87670061e-01 -4.60358038e-01 -1.05990176e-02 1.96597117e+02] [ 4.60323267e-01 8.87733325e-01 -5.65985443e-03 4.81060840e+01] [ 1.20146606e-02 1.45108909e-04 9.99927811e-01 2.30281811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.900281693 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:196.64, Y:48.14, Z:2.30 [[ 8.89128671e-01 -4.57534564e-01 -1.05985570e-02 1.96641394e+02] [ 4.57499582e-01 8.89191818e-01 -5.66071687e-03 4.81439885e+01] [ 1.20141238e-02 1.84270269e-04 9.99927811e-01 2.30231676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96028169299998 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:196.69, Y:48.18, Z:2.30 [[ 8.86345066e-01 -4.62903991e-01 -1.05981045e-02 1.96688631e+02] [ 4.62869381e-01 8.86408418e-01 -5.66156399e-03 4.81786760e+01] [ 1.20150096e-02 1.12561260e-04 9.99927811e-01 2.30332260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.020281693 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:196.74, Y:48.21, Z:2.30 [[ 8.84360499e-01 -4.66684273e-01 -1.05970760e-02 1.96736908e+02] [ 4.66649911e-01 8.84423985e-01 -5.66348842e-03 4.82111313e+01] [ 1.20153691e-02 6.34408797e-05 9.99927811e-01 2.29811057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.080281693 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:196.79, Y:48.24, Z:2.30 [[ 8.82857391e-01 -4.69521619e-01 -1.05960570e-02 1.96785570e+02] [ 4.69487438e-01 8.82920975e-01 -5.66539418e-03 4.82419448e+01] [ 1.20155060e-02 2.70194570e-05 9.99927811e-01 2.29533174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.140281693 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:196.84, Y:48.27, Z:2.30 [[ 8.80420895e-01 -4.74074655e-01 -1.05957420e-02 1.96836407e+02] [ 4.74040796e-01 8.80484651e-01 -5.66598319e-03 4.82698533e+01] [ 1.20154873e-02 -3.43640034e-05 9.99927811e-01 2.29719359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.200281693 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:196.89, Y:48.30, Z:2.30 [[ 8.78240267e-01 -4.78102260e-01 -1.05954330e-02 1.96888588e+02] [ 4.78068686e-01 8.78304173e-01 -5.66656108e-03 4.82977684e+01] [ 1.20152087e-02 -8.87426168e-05 9.99927811e-01 2.30496225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.260281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:196.94, Y:48.32, Z:2.31 [[ 8.76496880e-01 -4.81290945e-01 -1.05945748e-02 1.96940967e+02] [ 4.81257584e-01 8.76560899e-01 -5.66816518e-03 4.83230280e+01] [ 1.20148266e-02 -1.30590370e-04 9.99927811e-01 2.30522312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.320281693 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:196.99, Y:48.35, Z:2.31 [[ 8.75953414e-01 -4.82279374e-01 -1.05935161e-02 1.96991651e+02] [ 4.82246062e-01 8.76017457e-01 -5.67014307e-03 4.83496177e+01] [ 1.20146981e-02 -1.41900258e-04 9.99927811e-01 2.30599128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.380281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:197.04, Y:48.38, Z:2.31 [[ 8.75303350e-01 -4.83458206e-01 -1.05928027e-02 1.97043615e+02] [ 4.83424964e-01 8.75367430e-01 -5.67147552e-03 4.83760286e+01] [ 1.20145159e-02 -1.56563749e-04 9.99927811e-01 2.30520146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.440281693 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:197.10, Y:48.40, Z:2.30 [[ 8.72599821e-01 -4.88320968e-01 -1.05917654e-02 1.97096014e+02] [ 4.88288059e-01 8.72664072e-01 -5.67341211e-03 4.84004538e+01] [ 1.20134992e-02 -2.21214183e-04 9.99927811e-01 2.30214338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.500281693 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:197.15, Y:48.42, Z:2.31 [[ 8.68833150e-01 -4.94991710e-01 -1.05907177e-02 1.97150143e+02] [ 4.94959271e-01 8.68897641e-01 -5.67536728e-03 4.84209744e+01] [ 1.20115093e-02 -3.11026663e-04 9.99927811e-01 2.30507036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.560281693 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:197.21, Y:48.44, Z:2.30 [[ 8.65782073e-01 -5.00309150e-01 -1.05903944e-02 1.97205109e+02] [ 5.00277099e-01 8.65846757e-01 -5.67597049e-03 4.84413235e+01] [ 1.20093986e-02 -3.83978271e-04 9.99927811e-01 2.30362588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.620281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:197.26, Y:48.46, Z:2.30 [[ 8.65444048e-01 -5.00893665e-01 -1.05894220e-02 1.97259138e+02] [ 5.00861636e-01 8.65508743e-01 -5.67778403e-03 4.84631510e+01] [ 1.20092034e-02 -3.90030816e-04 9.99927811e-01 2.30464553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68028169299998 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:197.31, Y:48.49, Z:2.30 [[ 8.65409959e-01 -5.00952582e-01 -1.05884193e-02 1.97312425e+02] [ 5.00920534e-01 8.65474644e-01 -5.67965340e-03 4.84875758e+01] [ 1.20092454e-02 -3.88728020e-04 9.99927811e-01 2.30342614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.740281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:197.37, Y:48.51, Z:2.30 [[ 8.63908922e-01 -5.03536771e-01 -1.05874743e-02 1.97368344e+02] [ 5.03504896e-01 8.63973693e-01 -5.68141436e-03 4.85073288e+01] [ 1.20081003e-02 -4.22620588e-04 9.99927811e-01 2.30032115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.800281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:197.43, Y:48.52, Z:2.31 [[ 8.61405339e-01 -5.07807803e-01 -1.05865977e-02 1.97425305e+02] [ 5.07776229e-01 8.61470257e-01 -5.68304739e-03 4.85234821e+01] [ 1.20059348e-02 -4.80215276e-04 9.99927811e-01 2.30713925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.860281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:197.48, Y:48.55, Z:2.31 [[ 8.60394521e-01 -5.09518594e-01 -1.05862865e-02 1.97478847e+02] [ 5.09487142e-01 8.60459499e-01 -5.68362701e-03 4.85471595e+01] [ 1.20049844e-02 -5.03415295e-04 9.99927811e-01 2.31163495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.920281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:197.54, Y:48.56, Z:2.31 [[ 8.58346460e-01 -5.12961310e-01 -1.05853129e-02 1.97537449e+02] [ 5.12930095e-01 8.58411552e-01 -5.68543957e-03 4.85607208e+01] [ 1.20029654e-02 -5.49448638e-04 9.99927811e-01 2.31295551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.980281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:197.60, Y:48.57, Z:2.31 [[ 8.58927060e-01 -5.11988552e-01 -1.05842969e-02 1.97597961e+02] [ 5.11957241e-01 8.58992106e-01 -5.68733053e-03 4.85716479e+01] [ 1.20036756e-02 -5.33705325e-04 9.99927811e-01 2.30890966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.040281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:197.66, Y:48.59, Z:2.32 [[ 8.63131151e-01 -5.04868901e-01 -1.05833977e-02 1.97656005e+02] [ 5.04837033e-01 8.63195925e-01 -5.68900318e-03 4.85881771e+01] [ 1.20077466e-02 -4.32535240e-04 9.99927811e-01 2.31518847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.100281693 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:197.71, Y:48.61, Z:2.31 [[ 8.67976821e-01 -4.96491943e-01 -1.05824835e-02 1.97710460e+02] [ 4.96459429e-01 8.68041273e-01 -5.69070331e-03 4.86074311e+01] [ 1.20114208e-02 -3.14375140e-04 9.99927811e-01 2.31426623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.160281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.76, Y:48.63, Z:2.32 [[ 8.71366497e-01 -4.90518551e-01 -1.05820290e-02 1.97764807e+02] [ 4.90485584e-01 8.71430719e-01 -5.69154841e-03 4.86263209e+01] [ 1.20133152e-02 -2.30908048e-04 9.99927811e-01 2.31795738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.220281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:197.82, Y:48.65, Z:2.31 [[ 8.72524392e-01 -4.88455951e-01 -1.05815967e-02 1.97820756e+02] [ 4.88422822e-01 8.72588531e-01 -5.69235193e-03 4.86474421e+01] [ 1.20138431e-02 -2.01577420e-04 9.99927811e-01 2.31066361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.280281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:197.87, Y:48.67, Z:2.31 [[ 8.73757437e-01 -4.86246841e-01 -1.05806959e-02 1.97872802e+02] [ 4.86213531e-01 8.73821481e-01 -5.69402584e-03 4.86702807e+01] [ 1.20143414e-02 -1.69280077e-04 9.99927811e-01 2.31075767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.340281693 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:197.93, Y:48.69, Z:2.31 [[ 8.75166271e-01 -4.83706586e-01 -1.05799978e-02 1.97926509e+02] [ 4.83673074e-01 8.75230210e-01 -5.69532270e-03 4.86935027e+01] [ 1.20147988e-02 -1.32905713e-04 9.99927811e-01 2.31471533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.400281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:197.98, Y:48.72, Z:2.32 [[ 8.79392808e-01 -4.75979385e-01 -1.05789524e-02 1.97978953e+02] [ 4.75945287e-01 8.79456437e-01 -5.69726372e-03 4.87188496e+01] [ 1.20155079e-02 -2.48698112e-05 9.99927811e-01 2.31751160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46028169299998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:198.03, Y:48.75, Z:2.32 [[ 8.84132783e-01 -4.67115971e-01 -1.05778919e-02 1.98028841e+02] [ 4.67081212e-01 8.84196053e-01 -5.69923214e-03 4.87480533e+01] [ 1.20151326e-02 9.81434120e-05 9.99927811e-01 2.32126228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.520281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:198.07, Y:48.79, Z:2.32 [[ 8.89815783e-01 -4.56197329e-01 -1.05767915e-02 1.98073192e+02] [ 4.56161770e-01 8.89878607e-01 -5.70127357e-03 4.87854565e+01] [ 1.20129662e-02 2.48355285e-04 9.99927811e-01 2.32379090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.580281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:198.12, Y:48.82, Z:2.33 [[ 8.93748161e-01 -4.48444384e-01 -1.05763186e-02 1.98116961e+02] [ 4.48408270e-01 8.93810667e-01 -5.70215061e-03 4.88240496e+01] [ 1.20103238e-02 3.53777889e-04 9.99927811e-01 2.32627083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.640281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:198.16, Y:48.87, Z:2.32 [[ 8.93540838e-01 -4.48857351e-01 -1.05758564e-02 1.98159559e+02] [ 4.48821256e-01 8.93603355e-01 -5.70300769e-03 4.88666900e+01] [ 1.20104577e-02 3.49201103e-04 9.99927811e-01 2.32375298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.700281693 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:198.20, Y:48.91, Z:2.32 [[ 8.90192323e-01 -4.55462185e-01 -1.05747882e-02 1.98204038e+02] [ 4.55426529e-01 8.90255092e-01 -5.70498785e-03 4.89050993e+01] [ 1.20126653e-02 2.62497307e-04 9.99927811e-01 2.32197383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.760281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:198.25, Y:48.94, Z:2.32 [[ 8.84643282e-01 -4.66148525e-01 -1.05743254e-02 1.98251532e+02] [ 4.66113618e-01 8.84706470e-01 -5.70584556e-03 4.89398724e+01] [ 1.20149456e-02 1.18800884e-04 9.99927811e-01 2.32449388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.820281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:198.30, Y:48.97, Z:2.32 [[ 8.81425909e-01 -4.72203952e-01 -1.05732610e-02 1.98301575e+02] [ 4.72169455e-01 8.81489323e-01 -5.70781726e-03 4.89682176e+01] [ 1.20154705e-02 3.86471472e-05 9.99927811e-01 2.32354145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.880281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:198.35, Y:49.00, Z:2.32 [[ 8.79019771e-01 -4.76668094e-01 -1.05722008e-02 1.98353002e+02] [ 4.76633895e-01 8.79083345e-01 -5.70978034e-03 4.89954511e+01] [ 1.20155157e-02 -2.00594178e-05 9.99927811e-01 2.32338594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.940281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:198.40, Y:49.02, Z:2.32 [[ 8.79912134e-01 -4.75018829e-01 -1.05711183e-02 1.98403444e+02] [ 4.74984487e-01 8.79975632e-01 -5.71178376e-03 4.90243306e+01] [ 1.20155313e-02 4.75064091e-06 9.99927811e-01 2.32484008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.000281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:198.45, Y:49.05, Z:2.33 [[ 8.80831079e-01 -4.73312671e-01 -1.05700432e-02 1.98453812e+02] [ 4.73278182e-01 8.80894497e-01 -5.71377256e-03 4.90511594e+01] [ 1.20154938e-02 3.02976247e-05 9.99927811e-01 2.32542469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.060281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:198.51, Y:49.08, Z:2.33 [[ 8.79350255e-01 -4.76058204e-01 -1.05695783e-02 1.98505429e+02] [ 4.76023903e-01 8.79413774e-01 -5.71463241e-03 4.90768959e+01] [ 1.20155304e-02 -6.20845164e-06 9.99927811e-01 2.33383174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.120281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:198.55, Y:49.11, Z:2.33 [[ 8.77933175e-01 -4.78666530e-01 -1.05685178e-02 1.98554037e+02] [ 4.78632394e-01 8.77996783e-01 -5.71659307e-03 4.91071198e+01] [ 1.20154664e-02 -3.96482555e-05 9.99927811e-01 2.32765421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18028169299998 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:198.60, Y:49.14, Z:2.33 [[ 8.77576445e-01 -4.79320252e-01 -1.05678008e-02 1.98603354e+02] [ 4.79286148e-01 8.77640071e-01 -5.71791817e-03 4.91375447e+01] [ 1.20154394e-02 -4.70902290e-05 9.99927811e-01 2.33311457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.240281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:198.66, Y:49.16, Z:2.33 [[ 8.75210572e-01 -4.83626714e-01 -1.05667703e-02 1.98655784e+02] [ 4.83592900e-01 8.75274352e-01 -5.71982193e-03 4.91634043e+01] [ 1.20150817e-02 -1.03966461e-04 9.99927811e-01 2.33270187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.300281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:198.71, Y:49.18, Z:2.33 [[ 8.72628682e-01 -4.88269955e-01 -1.05657418e-02 1.98709752e+02] [ 4.88236457e-01 8.72692628e-01 -5.72172121e-03 4.91847654e+01] [ 1.20143895e-02 -1.65642286e-04 9.99927811e-01 2.33063901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.360281693 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:198.77, Y:49.20, Z:2.34 [[ 8.70667773e-01 -4.91758088e-01 -1.05646766e-02 1.98765657e+02] [ 4.91724822e-01 8.70731841e-01 -5.72368717e-03 4.92005479e+01] [ 1.20136698e-02 -2.11483790e-04 9.99927811e-01 2.33540182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.420281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:198.82, Y:49.22, Z:2.33 [[ 8.72183927e-01 -4.89063999e-01 -1.05642153e-02 1.98819795e+02] [ 4.89030525e-01 8.72247886e-01 -5.72453850e-03 4.92233789e+01] [ 1.20142802e-02 -1.73373306e-04 9.99927811e-01 2.33199611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.480281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:198.87, Y:49.25, Z:2.33 [[ 8.75650183e-01 -4.82830379e-01 -1.05632216e-02 1.98872696e+02] [ 4.82796428e-01 8.75713891e-01 -5.72637153e-03 4.92479360e+01] [ 1.20152260e-02 -8.55873895e-05 9.99927811e-01 2.33053031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.540281693 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:198.92, Y:49.27, Z:2.34 [[ 8.76533895e-01 -4.81224242e-01 -1.05621662e-02 1.98924817e+02] [ 4.81190151e-01 8.76597527e-01 -5.72831754e-03 4.92725594e+01] [ 1.20153741e-02 -6.13458725e-05 9.99927811e-01 2.33503928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.600281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:198.98, Y:49.30, Z:2.33 [[ 8.76127169e-01 -4.81964346e-01 -1.05618406e-02 1.98976280e+02] [ 4.81930302e-01 8.76190826e-01 -5.72891792e-03 4.92987630e+01] [ 1.20153220e-02 -7.08103682e-05 9.99927811e-01 2.33455783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.660281693 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:199.03, Y:49.33, Z:2.34 [[ 8.76875210e-01 -4.80602057e-01 -1.05607417e-02 1.99028229e+02] [ 4.80567889e-01 8.76938801e-01 -5.73094285e-03 4.93252393e+01] [ 1.20154271e-02 -4.98316348e-05 9.99927811e-01 2.33500201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.720281693 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:199.08, Y:49.35, Z:2.34 [[ 8.78351692e-01 -4.77898315e-01 -1.05596457e-02 1.99078615e+02] [ 4.77863927e-01 8.78415164e-01 -5.73296169e-03 4.93511489e+01] [ 1.20155256e-02 -1.05171512e-05 9.99927811e-01 2.33577667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.780281693 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:199.13, Y:49.38, Z:2.33 [[ 8.81011308e-01 -4.72977356e-01 -1.05591705e-02 1.99128609e+02] [ 4.72942603e-01 8.81074581e-01 -5.73383676e-03 4.93785539e+01] [ 1.20153917e-02 5.76934537e-05 9.99927811e-01 2.33477332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.840281693 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:199.18, Y:49.40, Z:2.34 [[ 8.81904713e-01 -4.71309443e-01 -1.05587183e-02 1.99180623e+02] [ 4.71274560e-01 8.81967915e-01 -5.73466934e-03 4.94046638e+01] [ 1.20152546e-02 8.13766025e-05 9.99927811e-01 2.33858290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.900281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:199.23, Y:49.43, Z:2.34 [[ 8.81894005e-01 -4.71329502e-01 -1.05576476e-02 1.99231799e+02] [ 4.71294597e-01 8.81957195e-01 -5.73663988e-03 4.94328020e+01] [ 1.20152409e-02 8.33460653e-05 9.99927811e-01 2.34070219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96028169299998 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:199.28, Y:49.46, Z:2.34 [[ 8.80907446e-01 -4.73170825e-01 -1.05565707e-02 1.99284274e+02] [ 4.73136029e-01 8.80970696e-01 -5.73862082e-03 4.94574148e+01] [ 1.20153774e-02 6.04998618e-05 9.99927811e-01 2.33726372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.020281693 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:199.34, Y:49.48, Z:2.34 [[ 8.79095749e-01 -4.76528327e-01 -1.05554646e-02 1.99339097e+02] [ 4.76493748e-01 8.79159117e-01 -5.74065473e-03 4.94777687e+01] [ 1.20155175e-02 1.69723013e-05 9.99927811e-01 2.33656365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.080281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:199.39, Y:49.50, Z:2.34 [[ 8.81350596e-01 -4.72344930e-01 -1.05543590e-02 1.99393367e+02] [ 4.72310026e-01 8.81413785e-01 -5.74268656e-03 4.94977539e+01] [ 1.20152864e-02 7.63906308e-05 9.99927811e-01 2.34118156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.140281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:199.45, Y:49.52, Z:2.34 [[ 8.84614899e-01 -4.66202849e-01 -1.05538968e-02 1.99446936e+02] [ 4.66167496e-01 8.84677838e-01 -5.74353593e-03 4.95209061e+01] [ 1.20144514e-02 1.60933817e-04 9.99927811e-01 2.34101948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.200281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:199.50, Y:49.54, Z:2.34 [[ 8.86401927e-01 -4.62796134e-01 -1.05528146e-02 1.99500576e+02] [ 4.62760515e-01 8.86464717e-01 -5.74552361e-03 4.95445795e+01] [ 1.20137039e-02 2.09417287e-04 9.99927811e-01 2.33713543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.260281693 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:199.55, Y:49.57, Z:2.34 [[ 8.86766101e-01 -4.62097980e-01 -1.05517130e-02 1.99551011e+02] [ 4.62062288e-01 8.86828849e-01 -5.74754598e-03 4.95704274e+01] [ 1.20134929e-02 2.21180277e-04 9.99927811e-01 2.33752349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.320281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:199.60, Y:49.60, Z:2.34 [[ 8.88532629e-01 -4.58692095e-01 -1.05512393e-02 1.99602708e+02] [ 4.58656152e-01 8.88595234e-01 -5.74841543e-03 4.95976276e+01] [ 1.20125337e-02 2.68263854e-04 9.99927811e-01 2.33983509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.380281693 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:199.65, Y:49.63, Z:2.34 [[ 8.90110257e-01 -4.55623116e-01 -1.05501730e-02 1.99651943e+02] [ 4.55586934e-01 8.90172724e-01 -5.75037174e-03 4.96279918e+01] [ 1.20114786e-02 3.11943885e-04 9.99927811e-01 2.33856183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.440281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:199.70, Y:49.66, Z:2.34 [[ 8.91988140e-01 -4.51935698e-01 -1.05491165e-02 1.99701938e+02] [ 4.51899235e-01 8.92050443e-01 -5.75230929e-03 4.96582884e+01] [ 1.20100180e-02 3.63853986e-04 9.99927811e-01 2.33896544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.500281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:199.75, Y:49.69, Z:2.34 [[ 8.93059605e-01 -4.49814718e-01 -1.05480621e-02 1.99750645e+02] [ 4.49778085e-01 8.93121808e-01 -5.75424219e-03 4.96890956e+01] [ 1.20090471e-02 3.94594105e-04 9.99927811e-01 2.34108967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.560281693 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:199.80, Y:49.72, Z:2.34 [[ 8.92666465e-01 -4.50594433e-01 -1.05470020e-02 1.99799091e+02] [ 4.50557830e-01 8.92728687e-01 -5.75618447e-03 4.97201709e+01] [ 1.20093160e-02 3.86318488e-04 9.99927811e-01 2.34337149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.620281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:199.85, Y:49.75, Z:2.35 [[ 8.91642746e-01 -4.52616815e-01 -1.05466750e-02 1.99848689e+02] [ 4.52580346e-01 8.91705046e-01 -5.75678367e-03 4.97498787e+01] [ 1.20101404e-02 3.59776587e-04 9.99927811e-01 2.34692068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68028169299998 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:199.90, Y:49.78, Z:2.35 [[ 8.91042337e-01 -4.53797690e-01 -1.05456024e-02 1.99897852e+02] [ 4.53761281e-01 8.91104672e-01 -5.75874782e-03 4.97809687e+01] [ 1.20105420e-02 3.46102078e-04 9.99927811e-01 2.34599906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.740281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:199.94, Y:49.82, Z:2.35 [[ 8.91791253e-01 -4.52324191e-01 -1.05445340e-02 1.99944615e+02] [ 4.52287656e-01 8.91853514e-01 -5.76070340e-03 4.98157749e+01] [ 1.20098852e-02 3.68182330e-04 9.99927811e-01 2.35117944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.800281693 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:199.99, Y:49.85, Z:2.35 [[ 8.93690984e-01 -4.48559094e-01 -1.05434544e-02 1.99988061e+02] [ 4.48522274e-01 8.93753076e-01 -5.76267866e-03 4.98541894e+01] [ 1.20081467e-02 4.21079819e-04 9.99927811e-01 2.35263271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.860281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:200.03, Y:49.89, Z:2.35 [[ 8.95513456e-01 -4.44909537e-01 -1.05429895e-02 2.00033027e+02] [ 4.44872453e-01 8.95575392e-01 -5.76352903e-03 4.98938862e+01] [ 1.20062910e-02 4.71032173e-04 9.99927811e-01 2.34976664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.920281693 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:200.08, Y:49.93, Z:2.35 [[ 8.95507250e-01 -4.44922052e-01 -1.05419270e-02 2.00077662e+02] [ 4.44884947e-01 8.95569173e-01 -5.76547176e-03 4.99331664e+01] [ 1.20062104e-02 4.73077119e-04 9.99927811e-01 2.34927560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.980281693 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:200.12, Y:49.97, Z:2.35 [[ 8.93728442e-01 -4.48484518e-01 -1.05408451e-02 2.00123197e+02] [ 4.48447636e-01 8.93790498e-01 -5.76744910e-03 4.99694279e+01] [ 1.20079188e-02 4.27516209e-04 9.99927811e-01 2.35271400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.040281693 meters Centerline goodness : 0.999534 with order 1 Centerline is valid? [True, True] Translation: X:200.17, Y:50.01, Z:2.35 [[ 8.92715397e-01 -4.50497643e-01 -1.05401137e-02 2.00169545e+02] [ 4.50460886e-01 8.92777526e-01 -5.76878554e-03 5.00061151e+01] [ 1.20088009e-02 4.01974732e-04 9.99927811e-01 2.35216943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.100281693 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:200.21, Y:50.04, Z:2.35 [[ 8.92056335e-01 -4.51801311e-01 -1.05390296e-02 2.00214586e+02] [ 4.51764621e-01 8.92118504e-01 -5.77076528e-03 5.00428326e+01] [ 1.20093027e-02 3.86687001e-04 9.99927811e-01 2.34994998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.160281693 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:200.26, Y:50.08, Z:2.35 [[ 8.90758370e-01 -4.54354998e-01 -1.05385605e-02 2.00261292e+02] [ 4.54318476e-01 8.90820639e-01 -5.77162185e-03 5.00786017e+01] [ 1.20103325e-02 3.53257712e-04 9.99927811e-01 2.35093274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.220281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:200.31, Y:50.11, Z:2.35 [[ 8.89583066e-01 -4.56651870e-01 -1.05374761e-02 2.00308885e+02] [ 4.56615485e-01 8.89645415e-01 -5.77360097e-03 5.01122869e+01] [ 1.20111430e-02 3.24522874e-04 9.99927811e-01 2.35109377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.280281693 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:200.36, Y:50.15, Z:2.35 [[ 8.86816361e-01 -4.62001869e-01 -1.05363959e-02 2.00355708e+02] [ 4.61965837e-01 8.86878914e-01 -5.77557171e-03 5.01460066e+01] [ 1.20128323e-02 2.54416540e-04 9.99927811e-01 2.35153525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.340281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:200.40, Y:50.18, Z:2.35 [[ 8.84906683e-01 -4.65649178e-01 -1.05359268e-02 2.00403834e+02] [ 4.65613394e-01 8.84969378e-01 -5.77642729e-03 5.01758970e+01] [ 1.20137612e-02 2.05930483e-04 9.99927811e-01 2.35451393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.400281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:200.46, Y:50.20, Z:2.36 [[ 8.81470926e-01 -4.72120759e-01 -1.05354653e-02 2.00455177e+02] [ 4.72085424e-01 8.81533876e-01 -5.77726896e-03 5.02028461e+01] [ 1.20149381e-02 1.18855031e-04 9.99927811e-01 2.35734389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46028169299998 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:200.51, Y:50.23, Z:2.36 [[ 8.79212887e-01 -4.76312634e-01 -1.05344112e-02 2.00505387e+02] [ 4.76277577e-01 8.79275992e-01 -5.77919033e-03 5.02312384e+01] [ 1.20153562e-02 6.38347856e-05 9.99927811e-01 2.35711849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.520281693 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:200.55, Y:50.26, Z:2.35 [[ 8.78154882e-01 -4.78260444e-01 -1.05333636e-02 2.00554513e+02] [ 4.78225504e-01 8.78218052e-01 -5.78109913e-03 5.02596587e+01] [ 1.20154611e-02 3.93773224e-05 9.99927811e-01 2.35208264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.580281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:200.61, Y:50.29, Z:2.35 [[ 8.77146732e-01 -4.80106934e-01 -1.05329123e-02 2.00605376e+02] [ 4.80072117e-01 8.77209970e-01 -5.78192124e-03 5.02874847e+01] [ 1.20155161e-02 1.50358194e-05 9.99927811e-01 2.35143664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.640281693 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:200.65, Y:50.32, Z:2.36 [[ 8.76710888e-01 -4.80902378e-01 -1.05319031e-02 2.00654721e+02] [ 4.80867596e-01 8.76774146e-01 -5.78375894e-03 5.03176195e+01] [ 1.20155238e-02 6.23351751e-06 9.99927811e-01 2.36059740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.700281693 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:200.70, Y:50.35, Z:2.36 [[ 8.77001541e-01 -4.80372146e-01 -1.05308564e-02 2.00703555e+02] [ 4.80337304e-01 8.77064764e-01 -5.78566399e-03 5.03464578e+01] [ 1.20155150e-02 1.56730407e-05 9.99927811e-01 2.36228579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.760281693 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:200.75, Y:50.38, Z:2.36 [[ 8.77260213e-01 -4.79899604e-01 -1.05304044e-02 2.00752437e+02] [ 4.79864717e-01 8.77323412e-01 -5.78648660e-03 5.03767144e+01] [ 1.20155030e-02 2.30849255e-05 9.99927811e-01 2.35734428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.820281693 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:200.80, Y:50.41, Z:2.35 [[ 8.77176259e-01 -4.80053049e-01 -1.05299741e-02 2.00797759e+02] [ 4.80018164e-01 8.77239460e-01 -5.78726954e-03 5.04127858e+01] [ 1.20155052e-02 2.18766083e-05 9.99927811e-01 2.35263210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.880281693 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:200.85, Y:50.45, Z:2.36 [[ 8.76489106e-01 -4.81306530e-01 -1.05295584e-02 2.00846006e+02] [ 4.81271726e-01 8.76552351e-01 -5.78802578e-03 5.04456984e+01] [ 1.20155238e-02 5.56279183e-06 9.99927811e-01 2.35944488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.940281693 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:200.89, Y:50.48, Z:2.37 [[ 8.74463801e-01 -4.84976506e-01 -1.05284703e-02 2.00894733e+02] [ 4.84941944e-01 8.74527179e-01 -5.79000434e-03 5.04782157e+01] [ 1.20154495e-02 -4.25476703e-05 9.99927811e-01 2.36611246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.000281693 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:200.94, Y:50.51, Z:2.36 [[ 8.72335124e-01 -4.88795055e-01 -1.05273764e-02 2.00943585e+02] [ 4.88760746e-01 8.72398639e-01 -5.79199259e-03 5.05096738e+01] [ 1.20151662e-02 -9.28097818e-05 9.99927811e-01 2.35929525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.060281693 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:200.99, Y:50.54, Z:2.36 [[ 8.69807613e-01 -4.93278721e-01 -1.05270401e-02 2.00992444e+02] [ 4.93244733e-01 8.69871300e-01 -5.79260374e-03 5.05397411e+01] [ 1.20145383e-02 -1.53956266e-04 9.99927811e-01 2.36451355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.120281693 meters Centerline goodness : 0.999408 with order 1 Centerline is valid? [True, True] Translation: X:201.04, Y:50.57, Z:2.36 [[ 8.67198158e-01 -4.97851931e-01 -1.05265765e-02 2.01044648e+02] [ 4.97818268e-01 8.67262018e-01 -5.79344611e-03 5.05651570e+01] [ 1.20135783e-02 -2.16256300e-04 9.99927811e-01 2.36089685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18028169299998 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:201.10, Y:50.59, Z:2.36 [[ 8.65069040e-01 -5.01542391e-01 -1.05255248e-02 2.01096735e+02] [ 5.01508977e-01 8.65133030e-01 -5.79535619e-03 5.05902975e+01] [ 1.20125960e-02 -2.65261982e-04 9.99927811e-01 2.35987459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.240281693 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:201.15, Y:50.61, Z:2.36 [[ 8.62711537e-01 -5.05586827e-01 -1.05244754e-02 2.01150833e+02] [ 5.05553690e-01 8.62775671e-01 -5.79726142e-03 5.06130111e+01] [ 1.20112803e-02 -3.19323047e-04 9.99927811e-01 2.36028308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.300281693 meters Centerline goodness : 0.999534 with order 1 Centerline is valid? [True, True] Translation: X:201.20, Y:50.64, Z:2.36 [[ 8.61000801e-01 -5.08494717e-01 -1.05234427e-02 2.01204749e+02] [ 5.08461774e-01 8.61065035e-01 -5.79913540e-03 5.06359823e+01] [ 1.20101983e-02 -3.57708102e-04 9.99927811e-01 2.36028556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.360281693 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:201.26, Y:50.66, Z:2.36 [[ 8.59814113e-01 -5.10498747e-01 -1.05224143e-02 2.01259313e+02] [ 5.10465930e-01 8.59878411e-01 -5.80100069e-03 5.06561096e+01] [ 1.20094005e-02 -3.83551767e-04 9.99927811e-01 2.36330648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.420281693 meters Centerline goodness : 0.999346 with order 1 Centerline is valid? [True, True] Translation: X:201.31, Y:50.68, Z:2.36 [[ 8.62294785e-01 -5.06297348e-01 -1.05213862e-02 2.01311535e+02] [ 5.06264196e-01 8.62358911e-01 -5.80286479e-03 5.06815253e+01] [ 1.20111862e-02 -3.22821094e-04 9.99927811e-01 2.36320694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.480281693 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:201.36, Y:50.70, Z:2.36 [[ 8.63918231e-01 -5.03522205e-01 -1.05204024e-02 2.01364646e+02] [ 5.03488825e-01 8.63982239e-01 -5.80464782e-03 5.07026227e+01] [ 1.20122099e-02 -2.82163985e-04 9.99927811e-01 2.36121242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.540281693 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:201.42, Y:50.72, Z:2.37 [[ 8.60678435e-01 -5.09040237e-01 -1.05199438e-02 2.01420187e+02] [ 5.09007256e-01 8.60742650e-01 -5.80547883e-03 5.07220009e+01] [ 1.20101867e-02 -3.58077325e-04 9.99927811e-01 2.36888443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.600281693 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:201.48, Y:50.74, Z:2.37 [[ 8.56926172e-01 -5.15331825e-01 -1.05188657e-02 2.01478432e+02] [ 5.15299292e-01 8.56990614e-01 -5.80743169e-03 5.07374187e+01] [ 1.20073235e-02 -4.43823832e-04 9.99927811e-01 2.36821342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.660281693 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:201.54, Y:50.75, Z:2.37 [[ 8.55436818e-01 -5.17800373e-01 -1.05177806e-02 2.01538166e+02] [ 5.17768002e-01 8.55501342e-01 -5.80939623e-03 5.07495590e+01] [ 1.20060829e-02 -4.76198821e-04 9.99927811e-01 2.36528077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.720281693 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:201.60, Y:50.76, Z:2.37 [[ 8.58850895e-01 -5.12117701e-01 -1.05166863e-02 2.01597861e+02] [ 5.12084878e-01 8.58915191e-01 -5.81137645e-03 5.07615529e+01] [ 1.20090504e-02 -3.94330182e-04 9.99927811e-01 2.37039418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.780281693 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:201.65, Y:50.78, Z:2.37 [[ 8.65178401e-01 -5.01353924e-01 -1.05156017e-02 2.01654517e+02] [ 5.01320277e-01 8.65242269e-01 -5.81333850e-03 5.07770145e+01] [ 1.20130831e-02 -2.42109430e-04 9.99927811e-01 2.36819304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.840281693 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:201.71, Y:50.80, Z:2.37 [[ 8.70575675e-01 -4.91922174e-01 -1.05151317e-02 2.01706176e+02] [ 4.91887826e-01 8.70639169e-01 -5.81418840e-03 5.08031523e+01] [ 1.20150137e-02 -1.10574285e-04 9.99927811e-01 2.37038870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.900281693 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:201.75, Y:50.83, Z:2.37 [[ 8.78425273e-01 -4.77764058e-01 -1.05140759e-02 2.01753829e+02] [ 4.77728663e-01 8.78488189e-01 -5.81609701e-03 5.08347553e+01] [ 1.20152136e-02 8.61311690e-05 9.99927811e-01 2.36658754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96028169299998 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:201.80, Y:50.87, Z:2.37 [[ 8.82289644e-01 -4.70589469e-01 -1.05136310e-02 2.01801975e+02] [ 4.70553553e-01 8.82352264e-01 -5.81690113e-03 5.08679167e+01] [ 1.20140986e-02 1.84965181e-04 9.99927811e-01 2.36899319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.020281693 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:201.85, Y:50.90, Z:2.38 [[ 8.81833430e-01 -4.71443832e-01 -1.05126215e-02 2.01850850e+02] [ 4.71407955e-01 8.81896072e-01 -5.81872510e-03 5.08995394e+01] [ 1.20142416e-02 1.75412929e-04 9.99927811e-01 2.37762040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.080281693 meters Centerline goodness : 0.998949 with order 1 Centerline is valid? [True, True] Translation: X:201.90, Y:50.93, Z:2.38 [[ 8.80848232e-01 -4.73282051e-01 -1.05115600e-02 2.01899577e+02] [ 4.73246281e-01 8.80910936e-01 -5.82064200e-03 5.09287341e+01] [ 1.20145536e-02 1.52545533e-04 9.99927811e-01 2.37530035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.140281693 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:201.95, Y:50.96, Z:2.38 [[ 8.82025761e-01 -4.71083940e-01 -1.05108402e-02 2.01950233e+02] [ 4.71047999e-01 8.82088367e-01 -5.82194145e-03 5.09574550e+01] [ 1.20141130e-02 1.83992072e-04 9.99927811e-01 2.37532149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.200281693 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:202.00, Y:50.98, Z:2.37 [[ 8.81568704e-01 -4.71938730e-01 -1.05097998e-02 2.02001964e+02] [ 4.71902827e-01 8.81631332e-01 -5.82381909e-03 5.09845155e+01] [ 1.20142546e-02 1.74492411e-04 9.99927811e-01 2.37393134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.260281693 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:202.05, Y:51.01, Z:2.37 [[ 8.80985142e-01 -4.73027216e-01 -1.05087028e-02 2.02052493e+02] [ 4.72991367e-01 8.81047800e-01 -5.82579781e-03 5.10105172e+01] [ 1.20144304e-02 1.61915590e-04 9.99927811e-01 2.37403903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.320281693 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:202.10, Y:51.04, Z:2.38 [[ 8.79801941e-01 -4.75224285e-01 -1.05082330e-02 2.02104900e+02] [ 4.75188582e-01 8.79864684e-01 -5.82664511e-03 5.10356095e+01] [ 1.20147864e-02 1.32901328e-04 9.99927811e-01 2.38259264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.380281693 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:202.16, Y:51.06, Z:2.37 [[ 8.80242859e-01 -4.74407112e-01 -1.05071705e-02 2.02156745e+02] [ 4.74371329e-01 8.80305555e-01 -5.82856046e-03 5.10626276e+01] [ 1.20146311e-02 1.46248279e-04 9.99927811e-01 2.37080537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.440281693 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:202.21, Y:51.09, Z:2.37 [[ 8.82079528e-01 -4.70983347e-01 -1.05068412e-02 2.02207617e+02] [ 4.70947313e-01 8.82142080e-01 -5.82915411e-03 5.10894167e+01] [ 1.20139612e-02 1.93608885e-04 9.99927811e-01 2.37413077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.500281693 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:202.26, Y:51.12, Z:2.38 [[ 8.82571352e-01 -4.70061083e-01 -1.05065170e-02 2.02258799e+02] [ 4.70024976e-01 8.82633863e-01 -5.82973831e-03 5.11167964e+01] [ 1.20137408e-02 2.06834610e-04 9.99927811e-01 2.37558297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.560281693 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:202.31, Y:51.15, Z:2.38 [[ 8.82629639e-01 -4.69951651e-01 -1.05054741e-02 2.02309473e+02] [ 4.69915515e-01 8.82692133e-01 -5.83161708e-03 5.11451679e+01] [ 1.20136774e-02 2.10472803e-04 9.99927811e-01 2.37556228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.620281693 meters Centerline goodness : 0.999045 with order 1 Centerline is valid? [True, True] Translation: X:202.36, Y:51.18, Z:2.38 [[ 8.83468779e-01 -4.68372260e-01 -1.05044146e-02 2.02358333e+02] [ 4.68335989e-01 8.83531194e-01 -5.83352498e-03 5.11756535e+01] [ 1.20132392e-02 2.34141795e-04 9.99927811e-01 2.37864766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68028169299998 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:202.41, Y:51.21, Z:2.38 [[ 8.85307619e-01 -4.64887191e-01 -1.05033160e-02 2.02406692e+02] [ 4.64850651e-01 8.85369877e-01 -5.83550236e-03 5.12065720e+01] [ 1.20121699e-02 2.83741424e-04 9.99927811e-01 2.38080630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.740281693 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:202.46, Y:51.24, Z:2.39 [[ 8.85362663e-01 -4.64782363e-01 -1.05028405e-02 2.02455765e+02] [ 4.64745806e-01 8.85424911e-01 -5.83635806e-03 5.12374517e+01] [ 1.20121129e-02 2.86142457e-04 9.99927811e-01 2.38576148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.800281693 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:202.51, Y:51.26, Z:2.39 [[ 8.84938647e-01 -4.65589201e-01 -1.05017428e-02 2.02507174e+02] [ 4.65552677e-01 8.85000915e-01 -5.83833257e-03 5.12646317e+01] [ 1.20123165e-02 2.77451675e-04 9.99927811e-01 2.39055705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.860281693 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:202.56, Y:51.29, Z:2.39 [[ 8.83586824e-01 -4.68149615e-01 -1.05006345e-02 2.02559256e+02] [ 4.68113247e-01 8.83649183e-01 -5.84032509e-03 5.12900724e+01] [ 1.20130231e-02 2.44948157e-04 9.99927811e-01 2.38779307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.920281693 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:202.61, Y:51.31, Z:2.38 [[ 8.82750891e-01 -4.69723988e-01 -1.04995373e-02 2.02611183e+02] [ 4.69687708e-01 8.82813301e-01 -5.84229709e-03 5.13140419e+01] [ 1.20133982e-02 2.25789364e-04 9.99927811e-01 2.38392650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.980281693 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:202.66, Y:51.34, Z:2.38 [[ 8.82244938e-01 -4.70673601e-01 -1.04990622e-02 2.02663206e+02] [ 4.70637379e-01 8.82307381e-01 -5.84315067e-03 5.13393465e+01] [ 1.20136168e-02 2.13838987e-04 9.99927811e-01 2.38144240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.040281693 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:202.71, Y:51.37, Z:2.38 [[ 8.82581629e-01 -4.70041978e-01 -1.04979588e-02 2.02714566e+02] [ 4.70005688e-01 8.82644032e-01 -5.84513238e-03 5.13672053e+01] [ 1.20134183e-02 2.24706114e-04 9.99927811e-01 2.38376696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.100281693 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:202.76, Y:51.40, Z:2.39 [[ 8.83115684e-01 -4.69037849e-01 -1.04968442e-02 2.02763328e+02] [ 4.69001464e-01 8.83178033e-01 -5.84713325e-03 5.13993611e+01] [ 1.20131091e-02 2.40659759e-04 9.99927811e-01 2.38512555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.160281693 meters Centerline goodness : 0.999536 with order 1 Centerline is valid? [True, True] Translation: X:202.81, Y:51.43, Z:2.38 [[ 8.82854356e-01 -4.69529579e-01 -1.04957193e-02 2.02812311e+02] [ 4.69493204e-01 8.82916711e-01 -5.84915193e-03 5.14291314e+01] [ 1.20131958e-02 2.36280398e-04 9.99927811e-01 2.38439816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.220281693 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:202.86, Y:51.46, Z:2.39 [[ 8.81537870e-01 -4.71996646e-01 -1.04952328e-02 2.02858893e+02] [ 4.71960436e-01 8.81600320e-01 -5.85002462e-03 5.14643824e+01] [ 1.20137926e-02 2.03683584e-04 9.99927811e-01 2.38726709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.280281693 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:202.91, Y:51.50, Z:2.39 [[ 8.81388312e-01 -4.72275890e-01 -1.04941089e-02 2.02906194e+02] [ 4.72239675e-01 8.81450760e-01 -5.85204012e-03 5.14972947e+01] [ 1.20138177e-02 2.02185197e-04 9.99927811e-01 2.38801791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.340281693 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:202.95, Y:51.53, Z:2.39 [[ 8.81267270e-01 -4.72501729e-01 -1.04936218e-02 2.02953887e+02] [ 4.72465519e-01 8.81329721e-01 -5.85291341e-03 5.15311037e+01] [ 1.20138525e-02 2.00106548e-04 9.99927811e-01 2.39400862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.400281693 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:203.00, Y:51.56, Z:2.39 [[ 8.80362541e-01 -4.74185305e-01 -1.04925286e-02 2.03002373e+02] [ 4.74149192e-01 8.80425048e-01 -5.85487244e-03 5.15621989e+01] [ 1.20141795e-02 1.79386404e-04 9.99927811e-01 2.39348136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46028169299998 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:203.05, Y:51.59, Z:2.39 [[ 8.79162144e-01 -4.76407222e-01 -1.04920555e-02 2.03050855e+02] [ 4.76371257e-01 8.79224736e-01 -5.85572019e-03 5.15935176e+01] [ 1.20145821e-02 1.50013848e-04 9.99927811e-01 2.38934444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.520281693 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:203.10, Y:51.63, Z:2.39 [[ 8.77158478e-01 -4.80086392e-01 -1.04909772e-02 2.03098796e+02] [ 4.80050666e-01 8.77221207e-01 -5.85765139e-03 5.16262368e+01] [ 1.20150864e-02 1.01887976e-04 9.99927811e-01 2.38905678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.580281693 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:203.15, Y:51.66, Z:2.39 [[ 8.74150935e-01 -4.85541043e-01 -1.04899052e-02 2.03147687e+02] [ 4.85505685e-01 8.74213872e-01 -5.85957058e-03 5.16560571e+01] [ 1.20154826e-02 2.92404957e-05 9.99927811e-01 2.38673183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.640281693 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:203.20, Y:51.68, Z:2.38 [[ 8.72388058e-01 -4.88701389e-01 -1.04894408e-02 2.03197581e+02] [ 4.88666249e-01 8.72451118e-01 -5.86040176e-03 5.16847003e+01] [ 1.20155108e-02 -1.32911774e-05 9.99927811e-01 2.38488108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.700281693 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:203.25, Y:51.71, Z:2.39 [[ 8.69894547e-01 -4.93126222e-01 -1.04883843e-02 2.03249168e+02] [ 4.93091380e-01 8.69957772e-01 -5.86229200e-03 5.17121591e+01] [ 1.20153013e-02 -7.21560389e-05 9.99927811e-01 2.38789926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.760281693 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:203.30, Y:51.74, Z:2.39 [[ 8.67711534e-01 -4.96957452e-01 -1.04873365e-02 2.03301473e+02] [ 4.96922867e-01 8.67774899e-01 -5.86416592e-03 5.17380224e+01] [ 1.20148883e-02 -1.22992886e-04 9.99927811e-01 2.39054012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.820281693 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:203.36, Y:51.76, Z:2.39 [[ 8.66173187e-01 -4.99633914e-01 -1.04862778e-02 2.03355417e+02] [ 4.99599502e-01 8.66236646e-01 -5.86605844e-03 5.17576803e+01] [ 1.20144798e-02 -1.57916621e-04 9.99927811e-01 2.39343603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.880281693 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:203.41, Y:51.78, Z:2.39 [[ 8.66075185e-01 -4.99803782e-01 -1.04858438e-02 2.03407588e+02] [ 4.99769373e-01 8.66138646e-01 -5.86683416e-03 5.17821984e+01] [ 1.20144604e-02 -1.59384077e-04 9.99927811e-01 2.39222329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.940281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:203.46, Y:51.81, Z:2.40 [[ 8.67931594e-01 -4.96573060e-01 -1.04854056e-02 2.03459417e+02] [ 4.96538406e-01 8.67994921e-01 -5.86761706e-03 5.18084586e+01] [ 1.20149794e-02 -1.13716375e-04 9.99927811e-01 2.39523999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.000281693 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:203.51, Y:51.84, Z:2.40 [[ 8.73059524e-01 -4.87500918e-01 -1.04843968e-02 2.03509699e+02] [ 4.87465584e-01 8.73122474e-01 -5.86941917e-03 5.18374979e+01] [ 1.20155097e-02 1.35697102e-05 9.99927811e-01 2.40101850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.060281693 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:203.56, Y:51.87, Z:2.40 [[ 8.74314996e-01 -4.85245698e-01 -1.04833493e-02 2.03559939e+02] [ 4.85210179e-01 8.74377842e-01 -5.87128948e-03 5.18661288e+01] [ 1.20154263e-02 4.67286481e-05 9.99927811e-01 2.40061390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.120281693 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:203.61, Y:51.90, Z:2.40 [[ 8.74718667e-01 -4.84517673e-01 -1.04822653e-02 2.03609291e+02] [ 4.84482078e-01 8.74781471e-01 -5.87322417e-03 5.18967980e+01] [ 1.20153724e-02 5.89491532e-05 9.99927811e-01 2.39709354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18028169299998 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:203.66, Y:51.93, Z:2.40 [[ 8.74154065e-01 -4.85535596e-01 -1.04811816e-02 2.03658859e+02] [ 4.85500051e-01 8.74216897e-01 -5.87515742e-03 5.19255570e+01] [ 1.20154241e-02 4.71785247e-05 9.99927811e-01 2.40004248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.240281693 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:203.71, Y:51.96, Z:2.39 [[ 8.75066703e-01 -4.83888856e-01 -1.04804477e-02 2.03708395e+02] [ 4.83853177e-01 8.75129459e-01 -5.87646639e-03 5.19574960e+01] [ 1.20153051e-02 7.13021638e-05 9.99927811e-01 2.39373771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.300281693 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:203.76, Y:51.99, Z:2.40 [[ 8.75327485e-01 -4.83416976e-01 -1.04795540e-02 2.03758050e+02] [ 4.83381244e-01 8.75390211e-01 -5.87805965e-03 5.19894642e+01] [ 1.20152528e-02 7.96073203e-05 9.99927811e-01 2.39664803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.360281693 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:203.81, Y:52.02, Z:2.40 [[ 8.73974622e-01 -4.85858578e-01 -1.04786409e-02 2.03806744e+02] [ 4.85823002e-01 8.74037436e-01 -5.87968699e-03 5.20188592e+01] [ 1.20154208e-02 4.79324404e-05 9.99927811e-01 2.39585716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.420281693 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:203.86, Y:52.05, Z:2.39 [[ 8.69894903e-01 -4.93125816e-01 -1.04779342e-02 2.03857613e+02] [ 4.93090750e-01 8.69958003e-01 -5.88094600e-03 5.20488712e+01] [ 1.20154090e-02 -5.07674952e-05 9.99927811e-01 2.39214119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.480281693 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:203.91, Y:52.08, Z:2.40 [[ 8.66461559e-01 -4.99133847e-01 -1.04770691e-02 2.03909454e+02] [ 4.99099200e-01 8.66524890e-01 -5.88248691e-03 5.20767944e+01] [ 1.20147894e-02 -1.32148015e-04 9.99927811e-01 2.39806077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.540281693 meters Centerline goodness : 0.999428 with order 1 Centerline is valid? [True, True] Translation: X:203.96, Y:52.10, Z:2.41 [[ 8.61906391e-01 -5.06959193e-01 -1.04761715e-02 2.03962536e+02] [ 5.06925101e-01 8.61970022e-01 -5.88408496e-03 5.21013676e+01] [ 1.20131367e-02 -2.39103867e-04 9.99927811e-01 2.40824197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.600281693 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:204.01, Y:52.13, Z:2.41 [[ 8.59483219e-01 -5.11056617e-01 -1.04752549e-02 2.04014445e+02] [ 5.11022808e-01 8.59547001e-01 -5.88571638e-03 5.21255610e+01] [ 1.20119082e-02 -2.94419701e-04 9.99927811e-01 2.40824828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.660281693 meters Centerline goodness : 0.999300 with order 1 Centerline is valid? [True, True] Translation: X:204.07, Y:52.15, Z:2.41 [[ 8.56995964e-01 -5.15216651e-01 -1.04748016e-02 2.04068967e+02] [ 5.15183142e-01 8.57059904e-01 -5.88652291e-03 5.21462091e+01] [ 1.20103671e-02 -3.51714837e-04 9.99927811e-01 2.40640306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.720281693 meters Centerline goodness : 0.999386 with order 1 Centerline is valid? [True, True] Translation: X:204.12, Y:52.17, Z:2.41 [[ 8.56914117e-01 -5.15352788e-01 -1.04737180e-02 2.04123485e+02] [ 5.15319266e-01 8.56978051e-01 -5.88845030e-03 5.21663685e+01] [ 1.20103757e-02 -3.51412487e-04 9.99927811e-01 2.40718564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.780281693 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:204.18, Y:52.19, Z:2.41 [[ 8.55444816e-01 -5.17788063e-01 -1.04732508e-02 2.04178591e+02] [ 5.17754713e-01 8.55508839e-01 -5.88928115e-03 5.21865152e+01] [ 1.20093581e-02 -3.84619939e-04 9.99927811e-01 2.40720450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.840281693 meters Centerline goodness : 0.999341 with order 1 Centerline is valid? [True, True] Translation: X:204.23, Y:52.21, Z:2.40 [[ 8.55320760e-01 -5.17992983e-01 -1.04721863e-02 2.04233431e+02] [ 5.17959625e-01 8.55384779e-01 -5.89117335e-03 5.22070977e+01] [ 1.20093353e-02 -3.85326851e-04 9.99927811e-01 2.40491045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.900281693 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:204.29, Y:52.23, Z:2.40 [[ 8.58108706e-01 -5.13361282e-01 -1.04710703e-02 2.04287198e+02] [ 5.13327554e-01 8.58172531e-01 -5.89315633e-03 5.22273415e+01] [ 1.20113032e-02 -3.18120165e-04 9.99927811e-01 2.40267743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96028169299998 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:204.34, Y:52.25, Z:2.41 [[ 8.60935683e-01 -5.08606053e-01 -1.04706085e-02 2.04339388e+02] [ 5.08571962e-01 8.60999315e-01 -5.89397677e-03 5.22535195e+01] [ 1.20128990e-02 -2.50722988e-04 9.99927811e-01 2.40696167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.020281693 meters Centerline goodness : 0.999450 with order 1 Centerline is valid? [True, True] Translation: X:204.39, Y:52.28, Z:2.41 [[ 8.64728389e-01 -5.02130659e-01 -1.04696444e-02 2.04391174e+02] [ 5.02096072e-01 8.64791753e-01 -5.89568879e-03 5.22771199e+01] [ 1.20144682e-02 -1.58597860e-04 9.99927811e-01 2.40687637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.080281693 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:204.44, Y:52.30, Z:2.41 [[ 8.66624301e-01 -4.98851398e-01 -1.04691670e-02 2.04444327e+02] [ 4.98816560e-01 8.66687527e-01 -5.89653647e-03 5.23012689e+01] [ 1.20149919e-02 -1.12112060e-04 9.99927811e-01 2.40833361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.140281693 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:204.50, Y:52.32, Z:2.42 [[ 8.68062644e-01 -4.96344301e-01 -1.04680700e-02 2.04497590e+02] [ 4.96309257e-01 8.68125757e-01 -5.89848335e-03 5.23243711e+01] [ 1.20152797e-02 -7.51469649e-05 9.99927811e-01 2.41638735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.200281693 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:204.55, Y:52.35, Z:2.42 [[ 8.72000131e-01 -4.89393705e-01 -1.04677305e-02 2.04549702e+02] [ 4.89358151e-01 8.72062957e-01 -5.89908571e-03 5.23496076e+01] [ 1.20154954e-02 2.15342784e-05 9.99927811e-01 2.41877023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.260281693 meters Centerline goodness : 0.999336 with order 1 Centerline is valid? [True, True] Translation: X:204.60, Y:52.38, Z:2.42 [[ 8.75064287e-01 -4.83893525e-01 -1.04666553e-02 2.04600411e+02] [ 4.83857553e-01 8.75126875e-01 -5.90099276e-03 5.23770289e+01] [ 1.20151035e-02 9.93777975e-05 9.99927811e-01 2.41699163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.320281693 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:204.65, Y:52.41, Z:2.42 [[ 8.77784724e-01 -4.78940968e-01 -1.04655327e-02 2.04651286e+02] [ 4.78904619e-01 8.77847094e-01 -5.90298304e-03 5.24050123e+01] [ 1.20143179e-02 1.69556374e-04 9.99927811e-01 2.41643731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.380281693 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:204.70, Y:52.43, Z:2.42 [[ 8.77474012e-01 -4.79510015e-01 -1.04644170e-02 2.04702335e+02] [ 4.79473683e-01 8.77536392e-01 -5.90496020e-03 5.24295651e+01] [ 1.20143943e-02 1.64036544e-04 9.99927811e-01 2.41650494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.440281693 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:204.75, Y:52.46, Z:2.41 [[ 8.77131352e-01 -4.80136541e-01 -1.04639364e-02 2.04752546e+02] [ 4.80100244e-01 8.77193751e-01 -5.90581174e-03 5.24593154e+01] [ 1.20144957e-02 1.56434208e-04 9.99927811e-01 2.41348706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.500281693 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:204.80, Y:52.49, Z:2.42 [[ 8.80414539e-01 -4.74089408e-01 -1.04628702e-02 2.04799984e+02] [ 4.74052660e-01 8.80476675e-01 -5.90770004e-03 5.24923205e+01] [ 1.20130912e-02 2.41273541e-04 9.99927811e-01 2.41654620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.560281693 meters Centerline goodness : 0.999408 with order 1 Centerline is valid? [True, True] Translation: X:204.85, Y:52.53, Z:2.42 [[ 8.82445870e-01 -4.70297591e-01 -1.04623925e-02 2.04847658e+02] [ 4.70260566e-01 8.82507841e-01 -5.90854605e-03 5.25257056e+01] [ 1.20119183e-02 2.93921469e-04 9.99927811e-01 2.41944485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.620281693 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:204.90, Y:52.56, Z:2.42 [[ 8.82324926e-01 -4.70524464e-01 -1.04620468e-02 2.04895035e+02] [ 4.70487447e-01 8.82386902e-01 -5.90915793e-03 5.25602914e+01] [ 1.20119765e-02 2.91535621e-04 9.99927811e-01 2.42103943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68028169299998 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:204.94, Y:52.59, Z:2.42 [[ 8.79157713e-01 -4.76416084e-01 -1.04609502e-02 2.04940931e+02] [ 4.76379459e-01 8.79219921e-01 -5.91109864e-03 5.25948026e+01] [ 1.20136183e-02 2.13406146e-04 9.99927811e-01 2.41911367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.740281693 meters Centerline goodness : 0.999258 with order 1 Centerline is valid? [True, True] Translation: X:204.99, Y:52.63, Z:2.42 [[ 8.76039586e-01 -4.82125738e-01 -1.04602071e-02 2.04989130e+02] [ 4.82089503e-01 8.76102023e-01 -5.91241337e-03 5.26273984e+01] [ 1.20147353e-02 1.36752121e-04 9.99927811e-01 2.41722756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.800281693 meters Centerline goodness : 0.999388 with order 1 Centerline is valid? [True, True] Translation: X:205.04, Y:52.66, Z:2.42 [[ 8.74880463e-01 -4.84225961e-01 -1.04591510e-02 2.05037497e+02] [ 4.84189854e-01 8.74942973e-01 -5.91428096e-03 5.26594667e+01] [ 1.20150091e-02 1.10074044e-04 9.99927811e-01 2.42028021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.860281693 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:205.08, Y:52.69, Z:2.42 [[ 8.74825858e-01 -4.84324630e-01 -1.04580767e-02 2.05084612e+02] [ 4.84288507e-01 8.74888359e-01 -5.91618014e-03 5.26909890e+01] [ 1.20150013e-02 1.10901026e-04 9.99927811e-01 2.42381446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.920281693 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:205.13, Y:52.72, Z:2.42 [[ 8.74514897e-01 -4.84885897e-01 -1.04576118e-02 2.05132808e+02] [ 4.84849804e-01 8.74577416e-01 -5.91700170e-03 5.27230975e+01] [ 1.20150618e-02 1.04135087e-04 9.99927811e-01 2.42489700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.980281693 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:205.18, Y:52.75, Z:2.42 [[ 8.73440880e-01 -4.86817924e-01 -1.04565010e-02 2.05182523e+02] [ 4.86781947e-01 8.73503464e-01 -5.91896418e-03 5.27538892e+01] [ 1.20152477e-02 7.98293956e-05 9.99927811e-01 2.42433324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.040281693 meters Centerline goodness : 0.999365 with order 1 Centerline is valid? [True, True] Translation: X:205.23, Y:52.78, Z:2.43 [[ 8.70831901e-01 -4.91469720e-01 -1.04553797e-02 2.05233000e+02] [ 4.91434053e-01 8.70894663e-01 -5.92094420e-03 5.27813081e+01] [ 1.20154991e-02 1.80174915e-05 9.99927811e-01 2.42896250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.100281693 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:205.28, Y:52.81, Z:2.43 [[ 8.70362421e-01 -4.92300678e-01 -1.04546171e-02 2.05283774e+02] [ 4.92265055e-01 8.70425208e-01 -5.92229027e-03 5.28097451e+01] [ 1.20155098e-02 8.09621649e-06 9.99927811e-01 2.43333067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.160281693 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:205.33, Y:52.84, Z:2.43 [[ 8.72433674e-01 -4.88620720e-01 -1.04535405e-02 2.05334297e+02] [ 4.88584809e-01 8.72496297e-01 -5.92418997e-03 5.28377559e+01] [ 1.20153574e-02 6.10217144e-05 9.99927811e-01 2.43211914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.220281693 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:205.38, Y:52.87, Z:2.43 [[ 8.76492437e-01 -4.81302145e-01 -1.04524195e-02 2.05382573e+02] [ 4.81265688e-01 8.76554744e-01 -5.92616731e-03 5.28687256e+01] [ 1.20143949e-02 1.63849985e-04 9.99927811e-01 2.42932890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.280281693 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:205.43, Y:52.90, Z:2.43 [[ 8.80485703e-01 -4.73957471e-01 -1.04519346e-02 2.05429065e+02] [ 4.73920484e-01 8.80547696e-01 -5.92702237e-03 5.29034138e+01] [ 1.20125835e-02 2.65272566e-04 9.99927811e-01 2.42904761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.340281693 meters Centerline goodness : 0.999471 with order 1 Centerline is valid? [True, True] Translation: X:205.48, Y:52.94, Z:2.43 [[ 8.81296475e-01 -4.72448200e-01 -1.04508721e-02 2.05476679e+02] [ 4.72411085e-01 8.81358392e-01 -5.92889516e-03 5.29367583e+01] [ 1.20120597e-02 2.88006571e-04 9.99927811e-01 2.43032342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.400281693 meters Centerline goodness : 0.999283 with order 1 Centerline is valid? [True, True] Translation: X:205.52, Y:52.97, Z:2.43 [[ 8.80290024e-01 -4.74320857e-01 -1.04498237e-02 2.05520537e+02] [ 4.74283852e-01 8.80352006e-01 -5.93074247e-03 5.29741343e+01] [ 1.20125981e-02 2.64590796e-04 9.99927811e-01 2.42765290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46028169299998 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:205.57, Y:53.01, Z:2.43 [[ 8.79869781e-01 -4.75099967e-01 -1.04493708e-02 2.05569371e+02] [ 4.75063007e-01 8.79931791e-01 -5.93154038e-03 5.30052650e+01] [ 1.20128082e-02 2.54873646e-04 9.99927811e-01 2.43032138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.520281693 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:205.62, Y:53.04, Z:2.43 [[ 8.79264211e-01 -4.76219782e-01 -1.04483259e-02 2.05615838e+02] [ 4.76182879e-01 8.79326254e-01 -5.93338036e-03 5.30404584e+01] [ 1.20130804e-02 2.41695104e-04 9.99927811e-01 2.43261402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.580281693 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:205.66, Y:53.08, Z:2.43 [[ 8.80256361e-01 -4.74383383e-01 -1.04472505e-02 2.05657002e+02] [ 4.74346328e-01 8.80318314e-01 -5.93527326e-03 5.30828109e+01] [ 1.20125009e-02 2.68947124e-04 9.99927811e-01 2.43142678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.640281693 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:205.70, Y:53.12, Z:2.44 [[ 8.80412217e-01 -4.74094076e-01 -1.04467853e-02 2.05702246e+02] [ 4.74056991e-01 8.80474152e-01 -5.93609186e-03 5.31199751e+01] [ 1.20123905e-02 2.73836171e-04 9.99927811e-01 2.43649380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.700281693 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:205.75, Y:53.16, Z:2.44 [[ 8.78837569e-01 -4.77006725e-01 -1.04456462e-02 2.05746687e+02] [ 4.76969821e-01 8.78899612e-01 -5.93809573e-03 5.31570465e+01] [ 1.20131860e-02 2.36363621e-04 9.99927811e-01 2.43630605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.760281693 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:205.79, Y:53.19, Z:2.43 [[ 8.75170658e-01 -4.83701580e-01 -1.04451540e-02 2.05793687e+02] [ 4.83665141e-01 8.75232975e-01 -5.93896135e-03 5.31921037e+01] [ 1.20146282e-02 1.45647825e-04 9.99927811e-01 2.43465658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.820281693 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:205.84, Y:53.22, Z:2.44 [[ 8.72525918e-01 -4.88456184e-01 -1.04440682e-02 2.05842733e+02] [ 4.88420061e-01 8.72588419e-01 -5.94087019e-03 5.32220825e+01] [ 1.20152278e-02 8.24707757e-05 9.99927811e-01 2.44163213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.880281693 meters Centerline goodness : 0.999232 with order 1 Centerline is valid? [True, True] Translation: X:205.89, Y:53.25, Z:2.44 [[ 8.70582395e-01 -4.91911803e-01 -1.04437314e-02 2.05893487e+02] [ 4.91875921e-01 8.70645035e-01 -5.94146231e-03 5.32515114e+01] [ 1.20154583e-02 3.55125124e-05 9.99927811e-01 2.43720890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.940281693 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:205.94, Y:53.28, Z:2.43 [[ 8.67382054e-01 -4.97533236e-01 -1.04427419e-02 2.05944303e+02] [ 4.97497740e-01 8.67444913e-01 -5.94320096e-03 5.32769488e+01] [ 1.20154433e-02 -4.02146139e-05 9.99927811e-01 2.43307538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.000281693 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:205.99, Y:53.30, Z:2.44 [[ 8.64725042e-01 -5.02136995e-01 -1.04422539e-02 2.05994998e+02] [ 5.02101823e-01 8.64788083e-01 -5.94405815e-03 5.33035104e+01] [ 1.20150682e-02 -1.03098784e-04 9.99927811e-01 2.43756471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.060281693 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:206.05, Y:53.33, Z:2.44 [[ 8.64679660e-01 -5.02215149e-01 -1.04417823e-02 2.06045896e+02] [ 5.02179972e-01 8.64742698e-01 -5.94488650e-03 5.33303536e+01] [ 1.20150671e-02 -1.03231510e-04 9.99927811e-01 2.43708345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.120281693 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:206.10, Y:53.36, Z:2.44 [[ 8.65215845e-01 -5.01290868e-01 -1.04406937e-02 2.06095797e+02] [ 5.01255601e-01 8.65278833e-01 -5.94679775e-03 5.33582003e+01] [ 1.20151867e-02 -8.81925556e-05 9.99927811e-01 2.43779956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18028169299998 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:206.15, Y:53.39, Z:2.44 [[ 8.64395722e-01 -5.02703728e-01 -1.04402206e-02 2.06146731e+02] [ 5.02668554e-01 8.64458762e-01 -5.94762818e-03 5.33857096e+01] [ 1.20150350e-02 -1.06866246e-04 9.99927811e-01 2.43691493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.240281693 meters Centerline goodness : 0.999450 with order 1 Centerline is valid? [True, True] Translation: X:206.20, Y:53.41, Z:2.44 [[ 8.63397459e-01 -5.04416349e-01 -1.04391517e-02 2.06198523e+02] [ 5.04381277e-01 8.63460555e-01 -5.94950368e-03 5.34106707e+01] [ 1.20148227e-02 -1.28526319e-04 9.99927811e-01 2.43709149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.300281693 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:206.25, Y:53.44, Z:2.44 [[ 8.64623410e-01 -5.02312053e-01 -1.04384262e-02 2.06248309e+02] [ 5.02276813e-01 8.64686412e-01 -5.95077629e-03 5.34408031e+01] [ 1.20151120e-02 -9.77989687e-05 9.99927811e-01 2.44212996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.360281693 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:206.30, Y:53.47, Z:2.44 [[ 8.67366545e-01 -4.97560387e-01 -1.04373388e-02 2.06296804e+02] [ 4.97524779e-01 8.67429340e-01 -5.95268298e-03 5.34713223e+01] [ 1.20154732e-02 -2.96766089e-05 9.99927811e-01 2.44021054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.420281693 meters Centerline goodness : 0.999387 with order 1 Centerline is valid? [True, True] Translation: X:206.35, Y:53.50, Z:2.44 [[ 8.69364886e-01 -4.94060488e-01 -1.04368715e-02 2.06345907e+02] [ 4.94024617e-01 8.69427532e-01 -5.95350218e-03 5.35026659e+01] [ 1.20154936e-02 1.96942958e-05 9.99927811e-01 2.43958966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.480281693 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:206.39, Y:53.53, Z:2.44 [[ 8.70093079e-01 -4.92776955e-01 -1.04358043e-02 2.06394650e+02] [ 4.92740969e-01 8.70155659e-01 -5.95537226e-03 5.35341593e+01] [ 1.20154444e-02 3.95798590e-05 9.99927811e-01 2.44266001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.540281693 meters Centerline goodness : 0.999419 with order 1 Centerline is valid? [True, True] Translation: X:206.44, Y:53.57, Z:2.44 [[ 8.71051098e-01 -4.91081563e-01 -1.04346977e-02 2.06443676e+02] [ 4.91045432e-01 8.71113595e-01 -5.95731059e-03 5.35660448e+01] [ 1.20153324e-02 6.52113009e-05 9.99927811e-01 2.44218104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.600281693 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:206.49, Y:53.60, Z:2.44 [[ 8.71568664e-01 -4.90162426e-01 -1.04335689e-02 2.06491380e+02] [ 4.90126205e-01 8.71631109e-01 -5.95928680e-03 5.35986338e+01] [ 1.20152417e-02 8.01620819e-05 9.99927811e-01 2.43549646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.660281693 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:206.54, Y:53.63, Z:2.44 [[ 8.70920516e-01 -4.91313141e-01 -1.04332208e-02 2.06540065e+02] [ 4.91276996e-01 8.70983004e-01 -5.95989628e-03 5.36307117e+01] [ 1.20153333e-02 6.49945836e-05 9.99927811e-01 2.43705691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.720281693 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:206.59, Y:53.66, Z:2.44 [[ 8.68046221e-01 -4.96373779e-01 -1.04321469e-02 2.06590615e+02] [ 4.96337975e-01 8.68108906e-01 -5.96177536e-03 5.36593561e+01] [ 1.20155086e-02 -2.77410778e-06 9.99927811e-01 2.44363139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.780281693 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:206.64, Y:53.69, Z:2.45 [[ 8.65671652e-01 -5.00503531e-01 -1.04310848e-02 2.06641879e+02] [ 5.00468004e-01 8.65734493e-01 -5.96363318e-03 5.36870934e+01] [ 1.20153694e-02 -5.78759878e-05 9.99927811e-01 2.44551472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.840281693 meters Centerline goodness : 0.999578 with order 1 Centerline is valid? [True, True] Translation: X:206.69, Y:53.72, Z:2.45 [[ 8.63979505e-01 -5.03418941e-01 -1.04299823e-02 2.06691937e+02] [ 5.03383603e-01 8.64042453e-01 -5.96556069e-03 5.37166415e+01] [ 1.20151237e-02 -9.61599006e-05 9.99927811e-01 2.44675369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.900281693 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:206.74, Y:53.74, Z:2.45 [[ 8.64165715e-01 -5.03099250e-01 -1.04288693e-02 2.06742673e+02] [ 5.03063865e-01 8.64228637e-01 -5.96750578e-03 5.37438665e+01] [ 1.20151752e-02 -8.94733977e-05 9.99927811e-01 2.44893697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96028169299998 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:206.79, Y:53.77, Z:2.45 [[ 8.63361791e-01 -5.04477630e-01 -1.04277695e-02 2.06794712e+02] [ 5.04442322e-01 8.63424756e-01 -5.96942703e-03 5.37678255e+01] [ 1.20150367e-02 -1.06433038e-04 9.99927811e-01 2.44875358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.020281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:206.85, Y:53.79, Z:2.45 [[ 8.62386963e-01 -5.06142270e-01 -1.04272948e-02 2.06848471e+02] [ 5.06107074e-01 8.62449990e-01 -5.97025616e-03 5.37910272e+01] [ 1.20148193e-02 -1.28656555e-04 9.99927811e-01 2.44938087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.080281693 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:206.90, Y:53.82, Z:2.45 [[ 8.63020765e-01 -5.05060842e-01 -1.04261584e-02 2.06901304e+02] [ 5.05025543e-01 8.63083735e-01 -5.97223994e-03 5.38163716e+01] [ 1.20149923e-02 -1.11309237e-04 9.99927811e-01 2.44935384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.140281693 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:206.95, Y:53.84, Z:2.45 [[ 8.65608688e-01 -5.00612544e-01 -1.04249970e-02 2.06953176e+02] [ 5.00576897e-01 8.65671461e-01 -5.97426667e-03 5.38428334e+01] [ 1.20154152e-02 -4.71354914e-05 9.99927811e-01 2.44712247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.200281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.00, Y:53.87, Z:2.44 [[ 8.67255481e-01 -4.97754218e-01 -1.04244535e-02 2.07004915e+02] [ 4.97718353e-01 8.67318130e-01 -5.97521484e-03 5.38693988e+01] [ 1.20155059e-02 -6.40399784e-06 9.99927811e-01 2.44465934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.260281693 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:207.06, Y:53.90, Z:2.45 [[ 8.67557863e-01 -4.97227019e-01 -1.04233238e-02 2.07055244e+02] [ 4.97191091e-01 8.67620477e-01 -5.97718489e-03 5.38981128e+01] [ 1.20155070e-02 3.17003489e-06 9.99927811e-01 2.45433919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.320281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:207.11, Y:53.93, Z:2.45 [[ 8.67821105e-01 -4.96767458e-01 -1.04222042e-02 2.07105441e+02] [ 4.96731474e-01 8.67883686e-01 -5.97913647e-03 5.39265539e+01] [ 1.20155014e-02 1.17839846e-05 9.99927811e-01 2.44842928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.380281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:207.15, Y:53.95, Z:2.45 [[ 8.69196978e-01 -4.94356161e-01 -1.04210759e-02 2.07154578e+02] [ 4.94319980e-01 8.69259446e-01 -5.98110223e-03 5.39544218e+01] [ 1.20154134e-02 4.74099399e-05 9.99927811e-01 2.45092463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.440281693 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:207.21, Y:53.98, Z:2.45 [[ 8.70466476e-01 -4.92117391e-01 -1.04205877e-02 2.07205817e+02] [ 4.92081039e-01 8.70528844e-01 -5.98195274e-03 5.39811962e+01] [ 1.20152451e-02 7.93157068e-05 9.99927811e-01 2.45002915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.500281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:207.26, Y:54.01, Z:2.45 [[ 8.70968200e-01 -4.91228897e-01 -1.04194620e-02 2.07257276e+02] [ 4.91192458e-01 8.71030517e-01 -5.98391289e-03 5.40063443e+01] [ 1.20151403e-02 9.38367111e-05 9.99927811e-01 2.45148768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.560281693 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:207.31, Y:54.03, Z:2.46 [[ 8.70740205e-01 -4.91632932e-01 -1.04189735e-02 2.07308638e+02] [ 4.91596512e-01 8.70802533e-01 -5.98476327e-03 5.40348891e+01] [ 1.20151752e-02 8.92429740e-05 9.99927811e-01 2.45664581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.620281693 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:207.36, Y:54.06, Z:2.46 [[ 8.71611993e-01 -4.90085705e-01 -1.04180207e-02 2.07358891e+02] [ 4.90049154e-01 8.71674245e-01 -5.98642147e-03 5.40617762e+01] [ 1.20149799e-02 1.12494541e-04 9.99927811e-01 2.45662459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68028169299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:207.41, Y:54.09, Z:2.46 [[ 8.71966848e-01 -4.89454079e-01 -1.04172810e-02 2.07410423e+02] [ 4.89417468e-01 8.72029065e-01 -5.98770834e-03 5.40886417e+01] [ 1.20148801e-02 1.22683887e-04 9.99927811e-01 2.45574559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.740281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:207.46, Y:54.12, Z:2.46 [[ 8.72529304e-01 -4.88450731e-01 -1.04161825e-02 2.07461921e+02] [ 4.88414025e-01 8.72591465e-01 -5.98961874e-03 5.41155161e+01] [ 1.20147056e-02 1.38708279e-04 9.99927811e-01 2.45850530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.800281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:207.51, Y:54.15, Z:2.45 [[ 8.73641127e-01 -4.86459358e-01 -1.04150910e-02 2.07511984e+02] [ 4.86422488e-01 8.73703190e-01 -5.99151596e-03 5.41457855e+01] [ 1.20143273e-02 1.68300261e-04 9.99927811e-01 2.45266734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.860281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:207.56, Y:54.17, Z:2.45 [[ 8.74938583e-01 -4.84121909e-01 -1.04141019e-02 2.07560796e+02] [ 4.84084853e-01 8.75000535e-01 -5.99323474e-03 5.41746995e+01] [ 1.20138010e-02 2.02403334e-04 9.99927811e-01 2.45375984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.920281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:207.61, Y:54.21, Z:2.45 [[ 8.75935042e-01 -4.82316664e-01 -1.04133357e-02 2.07608439e+02] [ 4.82279465e-01 8.75996908e-01 -5.99456576e-03 5.42063320e+01] [ 1.20133288e-02 2.28712261e-04 9.99927811e-01 2.45296732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.980281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:207.66, Y:54.24, Z:2.45 [[ 8.73792899e-01 -4.86186736e-01 -1.04128740e-02 2.07657356e+02] [ 4.86149801e-01 8.73854923e-01 -5.99536752e-03 5.42374267e+01] [ 1.20142094e-02 1.76492928e-04 9.99927811e-01 2.45040935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.040281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.71, Y:54.27, Z:2.45 [[ 8.71233574e-01 -4.90758243e-01 -1.04118192e-02 2.07706097e+02] [ 4.90721612e-01 8.71295778e-01 -5.99719884e-03 5.42693729e+01] [ 1.20149489e-02 1.15656276e-04 9.99927811e-01 2.45304845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.100281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:207.75, Y:54.30, Z:2.46 [[ 8.70911379e-01 -4.91329816e-01 -1.04106659e-02 2.07752615e+02] [ 4.91293202e-01 8.70973593e-01 -5.99920015e-03 5.43020161e+01] [ 1.20150010e-02 1.10082274e-04 9.99927811e-01 2.45872340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.160281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:207.80, Y:54.34, Z:2.46 [[ 8.72159991e-01 -4.89109985e-01 -1.04101670e-02 2.07799138e+02] [ 4.89073202e-01 8.72222106e-01 -6.00006577e-03 5.43365089e+01] [ 1.20146699e-02 1.41683583e-04 9.99927811e-01 2.46073960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.220281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:207.85, Y:54.37, Z:2.46 [[ 8.73128969e-01 -4.87378145e-01 -1.04090387e-02 2.07845732e+02] [ 4.87341215e-01 8.73190996e-01 -6.00202253e-03 5.43709834e+01] [ 1.20143335e-02 1.67786152e-04 9.99927811e-01 2.46002060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.280281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:207.89, Y:54.41, Z:2.46 [[ 8.73915478e-01 -4.85966473e-01 -1.04078974e-02 2.07889609e+02] [ 4.85929419e-01 8.73977432e-01 -6.00400103e-03 5.44093990e+01] [ 1.20140106e-02 1.89485899e-04 9.99927811e-01 2.45930477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.340281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:207.93, Y:54.45, Z:2.46 [[ 8.72781319e-01 -4.88000466e-01 -1.04074039e-02 2.07934463e+02] [ 4.87963546e-01 8.72843353e-01 -6.00485633e-03 5.44455809e+01] [ 1.20144060e-02 1.62492710e-04 9.99927811e-01 2.45642971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40028169299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:207.98, Y:54.48, Z:2.46 [[ 8.69421645e-01 -4.93961233e-01 -1.04069178e-02 2.07981478e+02] [ 4.93924729e-01 8.69483924e-01 -6.00569874e-03 5.44806643e+01] [ 1.20152300e-02 8.12504401e-05 9.99927811e-01 2.45561038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46028169299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:208.03, Y:54.51, Z:2.45 [[ 8.66607901e-01 -4.98881214e-01 -1.04057688e-02 2.08029246e+02] [ 4.98845040e-01 8.66670372e-01 -6.00768882e-03 5.45116337e+01] [ 1.20154946e-02 1.54444453e-05 9.99927811e-01 2.45423974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.520281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:208.08, Y:54.55, Z:2.45 [[ 8.66062976e-01 -4.99826622e-01 -1.04052744e-02 2.08077116e+02] [ 4.99790506e-01 8.66125480e-01 -6.00854494e-03 5.45456326e+01] [ 1.20155040e-02 3.32094715e-06 9.99927811e-01 2.45145313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.580281693 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:208.13, Y:54.58, Z:2.45 [[ 8.66419121e-01 -4.99209034e-01 -1.04041820e-02 2.08126172e+02] [ 4.99172850e-01 8.66481587e-01 -6.01043598e-03 5.45763731e+01] [ 1.20154961e-02 1.40714857e-05 9.99927811e-01 2.45275308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.640281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:208.17, Y:54.61, Z:2.45 [[ 8.66099551e-01 -4.99763288e-01 -1.04030648e-02 2.08174065e+02] [ 4.99727121e-01 8.66162026e-01 -6.01236906e-03 5.46096623e+01] [ 1.20155010e-02 8.61652227e-06 9.99927811e-01 2.45044546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.700281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.22, Y:54.64, Z:2.45 [[ 8.65435210e-01 -5.00912847e-01 -1.04027196e-02 2.08222752e+02] [ 5.00876756e-01 8.65497730e-01 -6.01296626e-03 5.46419155e+01] [ 1.20155022e-02 -6.64771395e-06 9.99927811e-01 2.45412845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.760281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.27, Y:54.67, Z:2.46 [[ 8.63624912e-01 -5.04027596e-01 -1.04015803e-02 2.08271621e+02] [ 5.03991707e-01 8.63687548e-01 -6.01493642e-03 5.46719242e+01] [ 1.20154093e-02 -4.76612798e-05 9.99927811e-01 2.45740148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.820281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.32, Y:54.70, Z:2.46 [[ 8.57761650e-01 -5.13942380e-01 -1.04010486e-02 2.08324518e+02] [ 5.13907203e-01 8.57824689e-01 -6.01585577e-03 5.46969268e+01] [ 1.20140795e-02 -1.85003398e-04 9.99927811e-01 2.46255888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.880281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:208.38, Y:54.72, Z:2.46 [[ 8.55256003e-01 -5.18101352e-01 -1.03999355e-02 2.08376559e+02] [ 5.18066459e-01 8.55319198e-01 -6.01777942e-03 5.47221657e+01] [ 1.20130841e-02 -2.41115762e-04 9.99927811e-01 2.46425632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.940281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:208.43, Y:54.74, Z:2.46 [[ 8.54017921e-01 -5.20139649e-01 -1.03988281e-02 2.08431460e+02] [ 5.20104883e-01 8.54081187e-01 -6.01969242e-03 5.47429913e+01] [ 1.20125241e-02 -2.67556046e-04 9.99927811e-01 2.45796626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.000281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:208.49, Y:54.77, Z:2.45 [[ 8.55829724e-01 -5.17153142e-01 -1.03976942e-02 2.08485855e+02] [ 5.17118131e-01 8.55892854e-01 -6.02165024e-03 5.47651164e+01] [ 1.20134275e-02 -2.23328947e-04 9.99927811e-01 2.45384326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.060281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:208.54, Y:54.79, Z:2.46 [[ 8.59041839e-01 -5.11799779e-01 -1.03973434e-02 2.08540660e+02] [ 5.11764367e-01 8.59104746e-01 -6.02225600e-03 5.47880527e+01] [ 1.20145963e-02 -1.47619971e-04 9.99927811e-01 2.45820053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.120281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:208.59, Y:54.81, Z:2.46 [[ 8.60700362e-01 -5.09005700e-01 -1.03963586e-02 2.08591451e+02] [ 5.08970063e-01 8.60763142e-01 -6.02395553e-03 5.48139790e+01] [ 1.20150300e-02 -1.06614588e-04 9.99927811e-01 2.45849240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18028169299998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:208.64, Y:54.84, Z:2.46 [[ 8.62533403e-01 -5.05893323e-01 -1.03958701e-02 2.08643166e+02] [ 5.05857450e-01 8.62596048e-01 -6.02479849e-03 5.48376106e+01] [ 1.20153418e-02 -6.22383913e-05 9.99927811e-01 2.46162818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.240281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:208.69, Y:54.87, Z:2.46 [[ 8.62750579e-01 -5.05522872e-01 -1.03954079e-02 2.08694414e+02] [ 5.05486963e-01 8.62813203e-01 -6.02559581e-03 5.48650361e+01] [ 1.20153717e-02 -5.61569047e-05 9.99927811e-01 2.46302548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.300281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.75, Y:54.89, Z:2.46 [[ 8.62949660e-01 -5.05182978e-01 -1.03943461e-02 2.08746613e+02] [ 5.05147022e-01 8.63012257e-01 -6.02742684e-03 5.48900334e+01] [ 1.20154016e-02 -4.93070579e-05 9.99927811e-01 2.46317445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.360281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:208.80, Y:54.92, Z:2.46 [[ 8.64026010e-01 -5.03339879e-01 -1.03932415e-02 2.08797714e+02] [ 5.03303767e-01 8.64088517e-01 -6.02933107e-03 5.49172996e+01] [ 1.20154834e-02 -2.14587142e-05 9.99927811e-01 2.46332136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.420281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.85, Y:54.94, Z:2.47 [[ 8.64503658e-01 -5.02519083e-01 -1.03921003e-02 2.08848423e+02] [ 5.02482888e-01 8.64566117e-01 -6.03129732e-03 5.49424184e+01] [ 1.20154998e-02 -7.77398238e-06 9.99927811e-01 2.46749366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.480281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:208.90, Y:54.97, Z:2.47 [[ 8.62940558e-01 -5.05198582e-01 -1.03916080e-02 2.08900546e+02] [ 5.05162571e-01 8.63003123e-01 -6.03214535e-03 5.49690250e+01] [ 1.20154215e-02 -4.40685641e-05 9.99927811e-01 2.46537213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.540281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:208.95, Y:54.99, Z:2.47 [[ 8.59199565e-01 -5.11535087e-01 -1.03904719e-02 2.08953280e+02] [ 5.11499513e-01 8.59262380e-01 -6.03410180e-03 5.49940954e+01] [ 1.20147964e-02 -1.30223649e-04 9.99927811e-01 2.46515473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.600281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:209.01, Y:55.02, Z:2.47 [[ 8.57416599e-01 -5.14518064e-01 -1.03893348e-02 2.09006520e+02] [ 5.14482684e-01 8.57479524e-01 -6.03605902e-03 5.50171175e+01] [ 1.20143032e-02 -1.69715642e-04 9.99927811e-01 2.46762802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.660281693 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:209.06, Y:55.04, Z:2.47 [[ 8.59921277e-01 -5.10320959e-01 -1.03882102e-02 2.09058203e+02] [ 5.10285250e-01 8.59984015e-01 -6.03799385e-03 5.50427756e+01] [ 1.20150095e-02 -1.08751025e-04 9.99927811e-01 2.47028686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.720281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:209.11, Y:55.07, Z:2.47 [[ 8.62870499e-01 -5.05318327e-01 -1.03870774e-02 2.09106722e+02] [ 5.05282230e-01 8.62933014e-01 -6.03994188e-03 5.50717719e+01] [ 1.20154453e-02 -3.67179728e-05 9.99927811e-01 2.47216242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.780281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:209.15, Y:55.11, Z:2.47 [[ 8.65302669e-01 -5.01142106e-01 -1.03865860e-02 2.09154314e+02] [ 5.01105697e-01 8.65365003e-01 -6.04078684e-03 5.51058672e+01] [ 1.20154807e-02 2.23315625e-05 9.99927811e-01 2.47482713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.840281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:209.20, Y:55.14, Z:2.47 [[ 8.67462669e-01 -4.97393868e-01 -1.03854683e-02 2.09202410e+02] [ 4.97357167e-01 8.67524832e-01 -6.04270781e-03 5.51383860e+01] [ 1.20152574e-02 7.65363696e-05 9.99927811e-01 2.47258912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90028169299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.25, Y:55.17, Z:2.47 [[ 8.68661383e-01 -4.95297452e-01 -1.03843459e-02 2.09249154e+02] [ 4.95260578e-01 8.68723444e-01 -6.04463602e-03 5.51729845e+01] [ 1.20150175e-02 1.07784735e-04 9.99927811e-01 2.46830739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96028169299998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:209.30, Y:55.21, Z:2.47 [[ 8.67578702e-01 -4.97191498e-01 -1.03832043e-02 2.09295314e+02] [ 4.97154736e-01 8.67640829e-01 -6.04659639e-03 5.52089212e+01] [ 1.20152083e-02 8.38390703e-05 9.99927811e-01 2.47399878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.020281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:209.34, Y:55.24, Z:2.48 [[ 8.66039974e-01 -4.99866942e-01 -1.03828505e-02 2.09343910e+02] [ 4.99830364e-01 8.66102210e-01 -6.04720385e-03 5.52412365e+01] [ 1.20154070e-02 4.74563325e-05 9.99927811e-01 2.47657341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.080281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:209.39, Y:55.27, Z:2.47 [[ 8.64548219e-01 -5.02442629e-01 -1.03817633e-02 2.09391741e+02] [ 5.02406215e-01 8.64610551e-01 -6.04906976e-03 5.52727979e+01] [ 1.20154926e-02 1.38500973e-05 9.99927811e-01 2.47441926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.140281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:209.44, Y:55.30, Z:2.48 [[ 8.63209336e-01 -5.04739410e-01 -1.03812940e-02 2.09439935e+02] [ 5.04703151e-01 8.63271758e-01 -6.04987497e-03 5.53049663e+01] [ 1.20154883e-02 -1.71632599e-05 9.99927811e-01 2.48043217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.200281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:209.49, Y:55.33, Z:2.47 [[ 8.62035802e-01 -5.06741084e-01 -1.03802258e-02 2.09488295e+02] [ 5.06704949e-01 8.62098296e-01 -6.05170729e-03 5.53348498e+01] [ 1.20154237e-02 -4.29234222e-05 9.99927811e-01 2.47397143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.260281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:209.54, Y:55.36, Z:2.47 [[ 8.60727207e-01 -5.08960643e-01 -1.03797693e-02 2.09538155e+02] [ 5.08924659e-01 8.60789788e-01 -6.05249008e-03 5.53645030e+01] [ 1.20152787e-02 -7.29776918e-05 9.99927811e-01 2.47487152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.320281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.59, Y:55.40, Z:2.48 [[ 8.60439456e-01 -5.09446979e-01 -1.03787045e-02 2.09587532e+02] [ 5.09411009e-01 8.60502045e-01 -6.05431557e-03 5.53953567e+01] [ 1.20152492e-02 -7.76543061e-05 9.99927811e-01 2.47763841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.380281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:209.63, Y:55.43, Z:2.47 [[ 8.63260018e-01 -5.04652797e-01 -1.03776474e-02 2.09631078e+02] [ 5.04616457e-01 8.63322393e-01 -6.05612691e-03 5.54343544e+01] [ 1.20154968e-02 -8.71944245e-06 9.99927811e-01 2.47462449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.440281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:209.68, Y:55.47, Z:2.47 [[ 8.65755083e-01 -5.00360326e-01 -1.03769294e-02 2.09676430e+02] [ 5.00323662e-01 8.65817268e-01 -6.05735699e-03 5.54713828e+01] [ 1.20153857e-02 5.23643031e-05 9.99927811e-01 2.47472390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.500281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:209.72, Y:55.51, Z:2.48 [[ 8.65062505e-01 -5.01556781e-01 -1.03758298e-02 2.09722876e+02] [ 5.01520181e-01 8.65124727e-01 -6.05923990e-03 5.55066125e+01] [ 1.20154398e-02 3.79332218e-05 9.99927811e-01 2.47605007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.560281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:209.77, Y:55.54, Z:2.47 [[ 8.62506432e-01 -5.05939739e-01 -1.03747247e-02 2.09769044e+02] [ 5.05903432e-01 8.62568827e-01 -6.06113141e-03 5.55413304e+01] [ 1.20154814e-02 -2.08440104e-05 9.99927811e-01 2.47373392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.620281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:209.82, Y:55.58, Z:2.48 [[ 8.60934377e-01 -5.08610243e-01 -1.03739747e-02 2.09816005e+02] [ 5.08574115e-01 8.60996874e-01 -6.06241494e-03 5.55761088e+01] [ 1.20153661e-02 -5.65935496e-05 9.99927811e-01 2.47870616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68028169299998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:209.86, Y:55.61, Z:2.48 [[ 8.62284295e-01 -5.06318277e-01 -1.03729268e-02 2.09863530e+02] [ 5.06281960e-01 8.62346683e-01 -6.06420725e-03 5.56088200e+01] [ 1.20154780e-02 -2.25550575e-05 9.99927811e-01 2.48257412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.740281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:209.91, Y:55.64, Z:2.48 [[ 8.62805372e-01 -5.05429833e-01 -1.03717952e-02 2.09911014e+02] [ 5.05393429e-01 8.62867709e-01 -6.06614202e-03 5.56420249e+01] [ 1.20154964e-02 -7.93724987e-06 9.99927811e-01 2.48385411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.800281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:209.96, Y:55.67, Z:2.48 [[ 8.61898021e-01 -5.06975592e-01 -1.03706428e-02 2.09960064e+02] [ 5.06939276e-01 8.61960410e-01 -6.06811165e-03 5.56719757e+01] [ 1.20154680e-02 -2.71927106e-05 9.99927811e-01 2.48170163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.860281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:210.01, Y:55.70, Z:2.48 [[ 8.58406424e-01 -5.12865352e-01 -1.03702877e-02 2.10008798e+02] [ 5.12829456e-01 8.58469056e-01 -6.06871837e-03 5.57016498e+01] [ 1.20150065e-02 -1.08762174e-04 9.99927811e-01 2.47647984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.920281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:210.06, Y:55.73, Z:2.48 [[ 8.55449674e-01 -5.17782119e-01 -1.03698037e-02 2.10059488e+02] [ 5.17746574e-01 8.55512505e-01 -6.06954536e-03 5.57279143e+01] [ 1.20141988e-02 -1.76739725e-04 9.99927811e-01 2.48195768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.980281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:210.11, Y:55.76, Z:2.48 [[ 8.54545446e-01 -5.19273106e-01 -1.03693287e-02 2.10107884e+02] [ 5.19237660e-01 8.54608333e-01 -6.07035672e-03 5.57571747e+01] [ 1.20138877e-02 -1.96750273e-04 9.99927811e-01 2.47812817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.040281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:210.16, Y:55.79, Z:2.48 [[ 8.54088064e-01 -5.20025062e-01 -1.03688596e-02 2.10158016e+02] [ 5.19989662e-01 8.54150977e-01 -6.07115778e-03 5.57853759e+01] [ 1.20137258e-02 -2.06396425e-04 9.99927811e-01 2.47706297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.100281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:210.21, Y:55.81, Z:2.48 [[ 8.53940237e-01 -5.20267799e-01 -1.03677194e-02 2.10207877e+02] [ 5.20232393e-01 8.54003147e-01 -6.07310439e-03 5.58136076e+01] [ 1.20137056e-02 -2.07555272e-04 9.99927811e-01 2.47641055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.160281693 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:210.26, Y:55.84, Z:2.48 [[ 8.54564329e-01 -5.19242071e-01 -1.03672270e-02 2.10259891e+02] [ 5.19206580e-01 8.54627190e-01 -6.07394479e-03 5.58403437e+01] [ 1.20139618e-02 -1.92155932e-04 9.99927811e-01 2.47981684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.220281693 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:210.31, Y:55.87, Z:2.48 [[ 8.55601590e-01 -5.17531123e-01 -1.03660936e-02 2.10312198e+02] [ 5.17495482e-01 8.55664367e-01 -6.07587849e-03 5.58651512e+01] [ 1.20143531e-02 -1.65875316e-04 9.99927811e-01 2.48064874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.280281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:210.36, Y:55.89, Z:2.48 [[ 8.56426663e-01 -5.16164642e-01 -1.03649712e-02 2.10363289e+02] [ 5.16128879e-01 8.56489370e-01 -6.07779260e-03 5.58914281e+01] [ 1.20146293e-02 -1.44477336e-04 9.99927811e-01 2.48165795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.340281693 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:210.42, Y:55.91, Z:2.49 [[ 8.56277575e-01 -5.16411946e-01 -1.03642059e-02 2.10417351e+02] [ 5.16376185e-01 8.56340283e-01 -6.07909734e-03 5.59131767e+01] [ 1.20146055e-02 -1.46434387e-04 9.99927811e-01 2.48555646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40028169299998 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:210.47, Y:55.94, Z:2.49 [[ 8.55454579e-01 -5.17774149e-01 -1.03631049e-02 2.10470345e+02] [ 5.17738464e-01 8.55517331e-01 -6.08097366e-03 5.59381356e+01] [ 1.20143868e-02 -1.63381261e-04 9.99927811e-01 2.48585194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46028169299998 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:210.53, Y:55.96, Z:2.49 [[ 8.54933834e-01 -5.18633560e-01 -1.03620088e-02 2.10525482e+02] [ 5.18597916e-01 8.54996609e-01 -6.08284083e-03 5.59586426e+01] [ 1.20142478e-02 -1.73289755e-04 9.99927811e-01 2.48624933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.520281693 meters Centerline goodness : 0.997950 with order 1 Centerline is valid? [True, True] Translation: X:210.58, Y:55.98, Z:2.49 [[ 8.58381098e-01 -5.12907928e-01 -1.03609234e-02 2.10577505e+02] [ 5.12871843e-01 8.58443620e-01 -6.08468901e-03 5.59841417e+01] [ 1.20151539e-02 -9.08438725e-05 9.99927811e-01 2.48892375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.580281693 meters Centerline goodness : 0.996851 with order 1 Centerline is valid? [True, True] Translation: X:210.63, Y:56.01, Z:2.49 [[ 8.62859354e-01 -5.05337916e-01 -1.03598304e-02 2.10627355e+02] [ 5.05301260e-01 8.62921544e-01 -6.08654938e-03 5.60131824e+01] [ 1.20154851e-02 1.70006853e-05 9.99927811e-01 2.49037076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.640281693 meters Centerline goodness : 0.996202 with order 1 Centerline is valid? [True, True] Translation: X:210.67, Y:56.05, Z:2.49 [[ 8.69436784e-01 -4.93935599e-01 -1.03587328e-02 2.10673588e+02] [ 4.93898106e-01 8.69498472e-01 -6.08841684e-03 5.60478548e+01] [ 1.20141882e-02 1.77335029e-04 9.99927811e-01 2.48826120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.700281693 meters Centerline goodness : 0.996209 with order 1 Centerline is valid? [True, True] Translation: X:210.72, Y:56.08, Z:2.49 [[ 8.71271538e-01 -4.90691980e-01 -1.03579875e-02 2.10721500e+02] [ 4.90654241e-01 8.71333077e-01 -6.08968452e-03 5.60799276e+01] [ 1.20134165e-02 2.23578277e-04 9.99927811e-01 2.48838021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.760281693 meters Centerline goodness : 0.995871 with order 1 Centerline is valid? [True, True] Translation: X:210.77, Y:56.12, Z:2.48 [[ 8.69105703e-01 -4.94517960e-01 -1.03568213e-02 2.10767769e+02] [ 4.94480469e-01 8.69167393e-01 -6.09166738e-03 5.61154964e+01] [ 1.20142503e-02 1.73057032e-04 9.99927811e-01 2.48433521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.820281693 meters Centerline goodness : 0.995876 with order 1 Centerline is valid? [True, True] Translation: X:210.82, Y:56.15, Z:2.49 [[ 8.67126595e-01 -4.97980149e-01 -1.03556318e-02 2.10817635e+02] [ 4.97942881e-01 8.67188419e-01 -6.09368882e-03 5.61458494e+01] [ 1.20148200e-02 1.27486528e-04 9.99927811e-01 2.48592047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.880281693 meters Centerline goodness : 0.995975 with order 1 Centerline is valid? [True, True] Translation: X:210.86, Y:56.18, Z:2.49 [[ 8.66310386e-01 -4.99398738e-01 -1.03544516e-02 2.10864783e+02] [ 4.99361547e-01 8.66372257e-01 -6.09569356e-03 5.61789543e+01] [ 1.20149912e-02 1.10147694e-04 9.99927811e-01 2.49095213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.940281693 meters Centerline goodness : 0.995918 with order 1 Centerline is valid? [True, True] Translation: X:210.91, Y:56.21, Z:2.49 [[ 8.67392735e-01 -4.97516472e-01 -1.03539031e-02 2.10913830e+02] [ 4.97479135e-01 8.67454518e-01 -6.09662498e-03 5.62077352e+01] [ 1.20147114e-02 1.37317445e-04 9.99927811e-01 2.48725990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.000281693 meters Centerline goodness : 0.996088 with order 1 Centerline is valid? [True, True] Translation: X:210.96, Y:56.24, Z:2.50 [[ 8.67343798e-01 -4.97601792e-01 -1.03534069e-02 2.10963432e+02] [ 4.97564451e-01 8.67405579e-01 -6.09746752e-03 5.62370542e+01] [ 1.20147137e-02 1.37113406e-04 9.99927811e-01 2.49501945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.060281693 meters Centerline goodness : 0.996067 with order 1 Centerline is valid? [True, True] Translation: X:211.01, Y:56.26, Z:2.50 [[ 8.67026763e-01 -4.98154015e-01 -1.03522735e-02 2.11014446e+02] [ 4.98116691e-01 8.67088554e-01 -6.09939123e-03 5.62628733e+01] [ 1.20147741e-02 1.31695212e-04 9.99927811e-01 2.49790763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.120281693 meters Centerline goodness : 0.996100 with order 1 Centerline is valid? [True, True] Translation: X:211.06, Y:56.29, Z:2.50 [[ 8.67084364e-01 -4.98053759e-01 -1.03517815e-02 2.11063297e+02] [ 4.98016418e-01 8.67146144e-01 -6.10022617e-03 5.62913029e+01] [ 1.20147480e-02 1.34053601e-04 9.99927811e-01 2.49768053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18028169299998 meters Centerline goodness : 0.996322 with order 1 Centerline is valid? [True, True] Translation: X:211.11, Y:56.32, Z:2.50 [[ 8.67890588e-01 -4.96647538e-01 -1.03512983e-02 2.11114951e+02] [ 4.96610087e-01 8.67952302e-01 -6.10104598e-03 5.63184292e+01] [ 1.20145026e-02 1.54481242e-04 9.99927811e-01 2.50194712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.240281693 meters Centerline goodness : 0.996133 with order 1 Centerline is valid? [True, True] Translation: X:211.16, Y:56.35, Z:2.50 [[ 8.68585429e-01 -4.95431353e-01 -1.03501921e-02 2.11164572e+02] [ 4.95393793e-01 8.68647077e-01 -6.10292201e-03 5.63472896e+01] [ 1.20142430e-02 1.73488222e-04 9.99927811e-01 2.49987911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.300281693 meters Centerline goodness : 0.995948 with order 1 Centerline is valid? [True, True] Translation: X:211.21, Y:56.38, Z:2.49 [[ 8.69429870e-01 -4.93947962e-01 -1.03494410e-02 2.11213370e+02] [ 4.93910282e-01 8.69491445e-01 -6.10419554e-03 5.63779715e+01] [ 1.20139053e-02 1.95474634e-04 9.99927811e-01 2.49444712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.360281693 meters Centerline goodness : 0.996108 with order 1 Centerline is valid? [True, True] Translation: X:211.26, Y:56.41, Z:2.50 [[ 8.68022775e-01 -4.96416532e-01 -1.03483538e-02 2.11262705e+02] [ 4.96379005e-01 8.68084443e-01 -6.10603805e-03 5.64087574e+01] [ 1.20143832e-02 1.63474535e-04 9.99927811e-01 2.49987733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.420281693 meters Centerline goodness : 0.996298 with order 1 Centerline is valid? [True, True] Translation: X:211.31, Y:56.44, Z:2.50 [[ 8.64503523e-01 -5.02520243e-01 -1.03472156e-02 2.11313145e+02] [ 5.02483128e-01 8.64565439e-01 -6.10796620e-03 5.64350973e+01] [ 1.20152217e-02 8.10570360e-05 9.99927811e-01 2.49884276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.480281693 meters Centerline goodness : 0.996163 with order 1 Centerline is valid? [True, True] Translation: X:211.37, Y:56.46, Z:2.50 [[ 8.59800268e-01 -5.10525660e-01 -1.03464428e-02 2.11365079e+02] [ 5.10489106e-01 8.59862518e-01 -6.10927494e-03 5.64591978e+01] [ 1.20154600e-02 -2.89901220e-05 9.99927811e-01 2.49540742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.540281693 meters Centerline goodness : 0.996137 with order 1 Centerline is valid? [True, True] Translation: X:211.42, Y:56.48, Z:2.50 [[ 8.57493030e-01 -5.14391554e-01 -1.03457228e-02 2.11417437e+02] [ 5.14355265e-01 8.57555434e-01 -6.11049402e-03 5.64843919e+01] [ 1.20152173e-02 -8.16709682e-05 9.99927811e-01 2.49583332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.600281693 meters Centerline goodness : 0.996208 with order 1 Centerline is valid? [True, True] Translation: X:211.47, Y:56.51, Z:2.50 [[ 8.56940482e-01 -5.15311555e-01 -1.03446130e-02 2.11470056e+02] [ 5.15275311e-01 8.57002913e-01 -6.11237230e-03 5.65091141e+01] [ 1.20151395e-02 -9.23844021e-05 9.99927811e-01 2.49958495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.660281693 meters Centerline goodness : 0.996349 with order 1 Centerline is valid? [True, True] Translation: X:211.52, Y:56.53, Z:2.50 [[ 8.59123509e-01 -5.11663767e-01 -1.03434588e-02 2.11523862e+02] [ 5.11627234e-01 8.59185771e-01 -6.11432485e-03 5.65303391e+01] [ 1.20154311e-02 -3.90349821e-05 9.99927811e-01 2.50141896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.720281693 meters Centerline goodness : 0.996711 with order 1 Centerline is valid? [True, True] Translation: X:211.58, Y:56.55, Z:2.50 [[ 8.58717773e-01 -5.12344424e-01 -1.03429568e-02 2.11576792e+02] [ 5.12307931e-01 8.58780058e-01 -6.11517379e-03 5.65549282e+01] [ 1.20154003e-02 -4.75703887e-05 9.99927811e-01 2.50231198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.780281693 meters Centerline goodness : 0.996567 with order 1 Centerline is valid? [True, True] Translation: X:211.63, Y:56.58, Z:2.50 [[ 8.57959227e-01 -5.13613679e-01 -1.03418091e-02 2.11629500e+02] [ 5.13577255e-01 8.58021553e-01 -6.11711411e-03 5.65787077e+01] [ 1.20153286e-02 -6.30834542e-05 9.99927811e-01 2.50437448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.840281693 meters Centerline goodness : 0.996447 with order 1 Centerline is valid? [True, True] Translation: X:211.68, Y:56.60, Z:2.51 [[ 8.58891251e-01 -5.12053602e-01 -1.03406097e-02 2.11681254e+02] [ 5.12017040e-01 8.58953495e-01 -6.11914102e-03 5.66034606e+01] [ 1.20154311e-02 -3.88916827e-05 9.99927811e-01 2.50597352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90028169299998 meters Centerline goodness : 0.996739 with order 1 Centerline is valid? [True, True] Translation: X:211.73, Y:56.63, Z:2.50 [[ 8.60897606e-01 -5.08673170e-01 -1.03400914e-02 2.11731385e+02] [ 5.08636353e-01 8.60959700e-01 -6.12001671e-03 5.66310794e+01] [ 1.20154903e-02 9.36134310e-06 9.99927811e-01 2.50473218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96028169299998 meters Centerline goodness : 0.996737 with order 1 Centerline is valid? [True, True] Translation: X:211.78, Y:56.66, Z:2.50 [[ 8.65718100e-01 -5.00425084e-01 -1.03395849e-02 2.11780931e+02] [ 5.00387665e-01 8.65779833e-01 -6.12087227e-03 5.66615574e+01] [ 1.20148421e-02 1.25149156e-04 9.99927811e-01 2.50399646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.020281693 meters Centerline goodness : 0.996711 with order 1 Centerline is valid? [True, True] Translation: X:211.83, Y:56.69, Z:2.51 [[ 8.67873507e-01 -4.96677654e-01 -1.03384492e-02 2.11830063e+02] [ 4.96639946e-01 8.67935064e-01 -6.12278994e-03 5.66895202e+01] [ 1.20141555e-02 1.79320322e-04 9.99927811e-01 2.50834676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.080281693 meters Centerline goodness : 0.996665 with order 1 Centerline is valid? [True, True] Translation: X:211.88, Y:56.72, Z:2.51 [[ 8.67740036e-01 -4.96910819e-01 -1.03376777e-02 2.11881455e+02] [ 4.96873112e-01 8.67801594e-01 -6.12409237e-03 5.67172529e+01] [ 1.20141809e-02 1.77606078e-04 9.99927811e-01 2.50911757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.140281693 meters Centerline goodness : 0.996687 with order 1 Centerline is valid? [True, True] Translation: X:211.93, Y:56.74, Z:2.51 [[ 8.66633096e-01 -4.98838885e-01 -1.03365490e-02 2.11934515e+02] [ 4.98801292e-01 8.66694723e-01 -6.12599682e-03 5.67419627e+01] [ 1.20145179e-02 1.53107601e-04 9.99927811e-01 2.50766184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.200281693 meters Centerline goodness : 0.996690 with order 1 Centerline is valid? [True, True] Translation: X:211.98, Y:56.77, Z:2.51 [[ 8.67821727e-01 -4.96768184e-01 -1.03353958e-02 2.11983911e+02] [ 4.96730421e-01 8.67883251e-01 -6.12794180e-03 5.67705975e+01] [ 1.20140834e-02 1.84055536e-04 9.99927811e-01 2.50753017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.260281693 meters Centerline goodness : 0.996395 with order 1 Centerline is valid? [True, True] Translation: X:212.03, Y:56.80, Z:2.51 [[ 8.68622364e-01 -4.95366914e-01 -1.03348971e-02 2.12034188e+02] [ 4.95329041e-01 8.68683820e-01 -6.12878278e-03 5.67992550e+01] [ 1.20137541e-02 2.04423135e-04 9.99927811e-01 2.50739539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.320281693 meters Centerline goodness : 0.996785 with order 1 Centerline is valid? [True, True] Translation: X:212.09, Y:56.83, Z:2.51 [[ 8.68779668e-01 -4.95091004e-01 -1.03337383e-02 2.12086400e+02] [ 4.95053088e-01 8.68841098e-01 -6.13073590e-03 5.68251450e+01] [ 1.20136487e-02 2.10509631e-04 9.99927811e-01 2.51233394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.380281693 meters Centerline goodness : 0.996692 with order 1 Centerline is valid? [True, True] Translation: X:212.14, Y:56.85, Z:2.51 [[ 8.69952173e-01 -4.93027827e-01 -1.03333819e-02 2.12136998e+02] [ 4.92989759e-01 8.70013508e-01 -6.13133654e-03 5.68520970e+01] [ 1.20131014e-02 2.39718074e-04 9.99927811e-01 2.50959853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.440281693 meters Centerline goodness : 0.996700 with order 1 Centerline is valid? [True, True] Translation: X:212.19, Y:56.88, Z:2.51 [[ 8.72449800e-01 -4.88594499e-01 -1.03326087e-02 2.12185314e+02] [ 4.88556104e-01 8.72510931e-01 -6.13263937e-03 5.68839829e+01] [ 1.20116879e-02 3.02360951e-04 9.99927811e-01 2.50893501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.500281693 meters Centerline goodness : 0.996779 with order 1 Centerline is valid? [True, True] Translation: X:212.23, Y:56.91, Z:2.51 [[ 8.73995057e-01 -4.85824970e-01 -1.03314716e-02 2.12234270e+02] [ 4.85786359e-01 8.74056051e-01 -6.13455436e-03 5.69141722e+01] [ 1.20106050e-02 3.42682213e-04 9.99927811e-01 2.50970717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.560281693 meters Centerline goodness : 0.997008 with order 1 Centerline is valid? [True, True] Translation: X:212.28, Y:56.95, Z:2.51 [[ 8.74202935e-01 -4.85450835e-01 -1.03303301e-02 2.12281596e+02] [ 4.85412175e-01 8.74263898e-01 -6.13647594e-03 5.69476837e+01] [ 1.20103921e-02 3.50057255e-04 9.99927811e-01 2.51241962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.620281693 meters Centerline goodness : 0.997240 with order 1 Centerline is valid? [True, True] Translation: X:212.33, Y:56.98, Z:2.51 [[ 8.70804126e-01 -4.91521599e-01 -1.03291842e-02 2.12329182e+02] [ 4.91483341e-01 8.70865343e-01 -6.13840416e-03 5.69807768e+01] [ 1.20124868e-02 2.68725692e-04 9.99927811e-01 2.51413673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68028169299998 meters Centerline goodness : 0.997309 with order 1 Centerline is valid? [True, True] Translation: X:212.38, Y:57.01, Z:2.52 [[ 8.68258211e-01 -4.96005051e-01 -1.03280341e-02 2.12375652e+02] [ 4.95967087e-01 8.68319610e-01 -6.14033875e-03 5.70147222e+01] [ 1.20136736e-02 2.09034565e-04 9.99927811e-01 2.51621009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.740281693 meters Centerline goodness : 0.997540 with order 1 Centerline is valid? [True, True] Translation: X:212.42, Y:57.05, Z:2.52 [[ 8.67058504e-01 -4.98099281e-01 -1.03275348e-02 2.12423563e+02] [ 4.98061454e-01 8.67119988e-01 -6.14117838e-03 5.70473130e+01] [ 1.20141284e-02 1.81013945e-04 9.99927811e-01 2.52155198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.800281693 meters Centerline goodness : 0.997427 with order 1 Centerline is valid? [True, True] Translation: X:212.47, Y:57.08, Z:2.52 [[ 8.65069159e-01 -5.01546324e-01 -1.03264081e-02 2.12469654e+02] [ 5.01508720e-01 8.65130780e-01 -6.14307232e-03 5.70804257e+01] [ 1.20147288e-02 1.35398700e-04 9.99927811e-01 2.51898021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.860281693 meters Centerline goodness : 0.997337 with order 1 Centerline is valid? [True, True] Translation: X:212.52, Y:57.11, Z:2.52 [[ 8.63180503e-01 -5.04789852e-01 -1.03259190e-02 2.12517354e+02] [ 5.04752469e-01 8.63242259e-01 -6.14389438e-03 5.71135166e+01] [ 1.20151452e-02 9.12567346e-05 9.99927811e-01 2.52123720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.920281693 meters Centerline goodness : 0.997443 with order 1 Centerline is valid? [True, True] Translation: X:212.56, Y:57.15, Z:2.53 [[ 8.63455450e-01 -5.04319427e-01 -1.03248062e-02 2.12564488e+02] [ 5.04281989e-01 8.63517171e-01 -6.14576377e-03 5.71464456e+01] [ 1.20150755e-02 9.99793902e-05 9.99927811e-01 2.52712184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.980281693 meters Centerline goodness : 0.997498 with order 1 Centerline is valid? [True, True] Translation: X:212.61, Y:57.18, Z:2.52 [[ 8.64075710e-01 -5.03255975e-01 -1.03243254e-02 2.12610971e+02] [ 5.03218451e-01 8.64137379e-01 -6.14657140e-03 5.71825078e+01] [ 1.20149343e-02 1.15711996e-04 9.99927811e-01 2.52486136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.040281693 meters Centerline goodness : 0.997407 with order 1 Centerline is valid? [True, True] Translation: X:212.66, Y:57.22, Z:2.52 [[ 8.65675443e-01 -5.00499210e-01 -1.03231706e-02 2.12656587e+02] [ 5.00461467e-01 8.65736979e-01 -6.14851027e-03 5.72198554e+01] [ 1.20144751e-02 1.56265241e-04 9.99927811e-01 2.51854451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.100281693 meters Centerline goodness : 0.997590 with order 1 Centerline is valid? [True, True] Translation: X:212.70, Y:57.26, Z:2.52 [[ 8.65569511e-01 -5.00682396e-01 -1.03228151e-02 2.12700808e+02] [ 5.00644658e-01 8.65631050e-01 -6.14910708e-03 5.72581951e+01] [ 1.20144990e-02 1.54417355e-04 9.99927811e-01 2.51958720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.160281693 meters Centerline goodness : 0.997754 with order 1 Centerline is valid? [True, True] Translation: X:212.75, Y:57.29, Z:2.52 [[ 8.64287827e-01 -5.02891654e-01 -1.03216628e-02 2.12748916e+02] [ 5.02854050e-01 8.64349448e-01 -6.15104079e-03 5.72901087e+01] [ 1.20148306e-02 1.25979754e-04 9.99927811e-01 2.51977988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.220281693 meters Centerline goodness : 0.997722 with order 1 Centerline is valid? [True, True] Translation: X:212.80, Y:57.32, Z:2.52 [[ 8.60737035e-01 -5.08945226e-01 -1.03205005e-02 2.12797186e+02] [ 5.08908033e-01 8.60798905e-01 -6.15299029e-03 5.73231269e+01] [ 1.20154105e-02 4.39210293e-05 9.99927811e-01 2.52461610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.280281693 meters Centerline goodness : 0.997947 with order 1 Centerline is valid? [True, True] Translation: X:212.85, Y:57.35, Z:2.52 [[ 8.60012655e-01 -5.10168348e-01 -1.03193467e-02 2.12846879e+02] [ 5.10131220e-01 8.60074564e-01 -6.15492466e-03 5.73522727e+01] [ 1.20154554e-02 2.90921682e-05 9.99927811e-01 2.52496221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.340281693 meters Centerline goodness : 0.997929 with order 1 Centerline is valid? [True, True] Translation: X:212.90, Y:57.38, Z:2.52 [[ 8.58398866e-01 -5.12879052e-01 -1.03181860e-02 2.12898239e+02] [ 5.12842096e-01 8.58460877e-01 -6.15686990e-03 5.73803539e+01] [ 1.20154886e-02 -6.55000096e-06 9.99927811e-01 2.52236130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40028169299998 meters Centerline goodness : 0.998002 with order 1 Centerline is valid? [True, True] Translation: X:212.95, Y:57.41, Z:2.52 [[ 8.58250950e-01 -5.13126559e-01 -1.03170192e-02 2.12949656e+02] [ 5.13089597e-01 8.58312958e-01 -6.15882450e-03 5.74053632e+01] [ 1.20154877e-02 -7.73823701e-06 9.99927811e-01 2.52347440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46028169299998 meters Centerline goodness : 0.997889 with order 1 Centerline is valid? [True, True] Translation: X:213.00, Y:57.43, Z:2.53 [[ 8.58321162e-01 -5.13009115e-01 -1.03165166e-02 2.13000839e+02] [ 5.12972135e-01 8.58383159e-01 -6.15966623e-03 5.74327708e+01] [ 1.20154890e-02 -5.11367453e-06 9.99927811e-01 2.52569636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.520281693 meters Centerline goodness : 0.998124 with order 1 Centerline is valid? [True, True] Translation: X:213.05, Y:57.46, Z:2.52 [[ 8.56892377e-01 -5.15392130e-01 -1.03153496e-02 2.13053472e+02] [ 5.15355298e-01 8.56954463e-01 -6.16162005e-03 5.74576732e+01] [ 1.20154353e-02 -3.62247930e-05 9.99927811e-01 2.52349732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.580281693 meters Centerline goodness : 0.998246 with order 1 Centerline is valid? [True, True] Translation: X:213.11, Y:57.48, Z:2.53 [[ 8.52653942e-01 -5.22374265e-01 -1.03141933e-02 2.13107753e+02] [ 5.22337918e-01 8.52716313e-01 -6.16355487e-03 5.74804907e+01] [ 1.20147634e-02 -1.32114920e-04 9.99927811e-01 2.52721368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.640281693 meters Centerline goodness : 0.998343 with order 1 Centerline is valid? [True, True] Translation: X:213.16, Y:57.50, Z:2.53 [[ 8.49104848e-01 -5.28123658e-01 -1.03130455e-02 2.13161509e+02] [ 5.28087710e-01 8.49167450e-01 -6.16547494e-03 5.75013180e+01] [ 1.20136357e-02 -2.11057899e-04 9.99927811e-01 2.52615163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.700281693 meters Centerline goodness : 0.998363 with order 1 Centerline is valid? [True, True] Translation: X:213.22, Y:57.52, Z:2.53 [[ 8.47633158e-01 -5.30482498e-01 -1.03125513e-02 2.13216634e+02] [ 5.30446715e-01 8.47695853e-01 -6.16630140e-03 5.75208064e+01] [ 1.20130219e-02 -2.43497418e-04 9.99927811e-01 2.52744268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.760281693 meters Centerline goodness : 0.998425 with order 1 Centerline is valid? [True, True] Translation: X:213.27, Y:57.54, Z:2.53 [[ 8.48746649e-01 -5.28699152e-01 -1.03117882e-02 2.13273517e+02] [ 5.28663221e-01 8.48809260e-01 -6.16757723e-03 5.75387579e+01] [ 1.20135342e-02 -2.16752656e-04 9.99927811e-01 2.52765364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.820281693 meters Centerline goodness : 0.998496 with order 1 Centerline is valid? [True, True] Translation: X:213.33, Y:57.56, Z:2.53 [[ 8.50624519e-01 -5.25672538e-01 -1.03106858e-02 2.13327319e+02] [ 5.25636362e-01 8.50686989e-01 -6.16941959e-03 5.75602632e+01] [ 1.20142607e-02 -1.71811817e-04 9.99927811e-01 2.52606475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.880281693 meters Centerline goodness : 0.998556 with order 1 Centerline is valid? [True, True] Translation: X:213.38, Y:57.58, Z:2.53 [[ 8.54079587e-01 -5.20040153e-01 -1.03101124e-02 2.13382267e+02] [ 5.20003554e-01 8.54141809e-01 -6.17037765e-03 5.75820733e+01] [ 1.20151422e-02 -9.13015144e-05 9.99927811e-01 2.52939466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.940281693 meters Centerline goodness : 0.998677 with order 1 Centerline is valid? [True, True] Translation: X:213.43, Y:57.61, Z:2.53 [[ 8.55408424e-01 -5.17851477e-01 -1.03089718e-02 2.13432808e+02] [ 5.17814696e-01 8.55470539e-01 -6.17228280e-03 5.76099747e+01] [ 1.20153474e-02 -5.83143837e-05 9.99927811e-01 2.53042831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.000281693 meters Centerline goodness : 0.998638 with order 1 Centerline is valid? [True, True] Translation: X:213.48, Y:57.64, Z:2.53 [[ 8.60209324e-01 -5.09836902e-01 -1.03078336e-02 2.13483431e+02] [ 5.09799519e-01 8.60271079e-01 -6.17418301e-03 5.76371476e+01] [ 1.20153575e-02 5.61611826e-05 9.99927811e-01 2.52950273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.060281693 meters Centerline goodness : 0.998527 with order 1 Centerline is valid? [True, True] Translation: X:213.53, Y:57.67, Z:2.53 [[ 8.64442035e-01 -5.02626826e-01 -1.03073409e-02 2.13530886e+02] [ 5.02588918e-01 8.64503469e-01 -6.17500545e-03 5.76706366e+01] [ 1.20144553e-02 1.57578984e-04 9.99927811e-01 2.53001490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.120281693 meters Centerline goodness : 0.998582 with order 1 Centerline is valid? [True, True] Translation: X:213.58, Y:57.70, Z:2.53 [[ 8.65483481e-01 -5.00831435e-01 -1.03061799e-02 2.13577469e+02] [ 5.00793377e-01 8.65544822e-01 -6.17694256e-03 5.77044748e+01] [ 1.20140676e-02 1.84775123e-04 9.99927811e-01 2.53221143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18028169299998 meters Centerline goodness : 0.998731 with order 1 Centerline is valid? [True, True] Translation: X:213.62, Y:57.74, Z:2.54 [[ 8.64493139e-01 -5.02538959e-01 -1.03056860e-02 2.13621611e+02] [ 5.02501011e-01 8.64554549e-01 -6.17776644e-03 5.77427332e+01] [ 1.20143960e-02 1.62019066e-04 9.99927811e-01 2.53572036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.240281693 meters Centerline goodness : 0.998782 with order 1 Centerline is valid? [True, True] Translation: X:213.67, Y:57.78, Z:2.53 [[ 8.61607332e-01 -5.07470810e-01 -1.03045189e-02 2.13665485e+02] [ 5.07433191e-01 8.61668943e-01 -6.17971261e-03 5.77822954e+01] [ 1.20151076e-02 9.56307946e-05 9.99927811e-01 2.53252584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.300281693 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:213.71, Y:57.82, Z:2.53 [[ 8.56343221e-01 -5.16304299e-01 -1.03033610e-02 2.13710747e+02] [ 5.16267292e-01 8.56405202e-01 -6.18164257e-03 5.78175729e+01] [ 1.20154606e-02 -2.56805577e-05 9.99927811e-01 2.53023659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.360281693 meters Centerline goodness : 0.998745 with order 1 Centerline is valid? [True, True] Translation: X:213.76, Y:57.85, Z:2.53 [[ 8.52552027e-01 -5.22540804e-01 -1.03028574e-02 2.13758840e+02] [ 5.22504241e-01 8.52614271e-01 -6.18248169e-03 5.78495945e+01] [ 1.20149622e-02 -1.12399395e-04 9.99927811e-01 2.53297398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.420281693 meters Centerline goodness : 0.998734 with order 1 Centerline is valid? [True, True] Translation: X:213.81, Y:57.88, Z:2.53 [[ 8.48534107e-01 -5.29040399e-01 -1.03017155e-02 2.13806843e+02] [ 5.29004289e-01 8.48596616e-01 -6.18438381e-03 5.78815457e+01] [ 1.20137898e-02 -2.01991099e-04 9.99927811e-01 2.53349278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.480281693 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:213.86, Y:57.91, Z:2.54 [[ 8.43233662e-01 -5.37448499e-01 -1.03005854e-02 2.13856699e+02] [ 5.37412989e-01 8.43296513e-01 -6.18626552e-03 5.79081941e+01] [ 1.20112469e-02 -3.19201073e-04 9.99927811e-01 2.53838540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.540281693 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:213.91, Y:57.93, Z:2.54 [[ 8.39747885e-01 -5.42878805e-01 -1.03000967e-02 2.13910488e+02] [ 5.42843692e-01 8.39810959e-01 -6.18707911e-03 5.79313598e+01] [ 1.20089682e-02 -3.95755934e-04 9.99927811e-01 2.53929204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.600281693 meters Centerline goodness : 0.998896 with order 1 Centerline is valid? [True, True] Translation: X:213.96, Y:57.96, Z:2.54 [[ 8.39202580e-01 -5.43721399e-01 -1.02990036e-02 2.13963093e+02] [ 5.43686327e-01 8.39265676e-01 -6.18889822e-03 5.79566228e+01] [ 1.20086366e-02 -4.05688072e-04 9.99927811e-01 2.53906431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.660281693 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:214.01, Y:57.98, Z:2.54 [[ 8.41013588e-01 -5.40915981e-01 -1.02979156e-02 2.14014444e+02] [ 5.40880676e-01 8.41076554e-01 -6.19070798e-03 5.79811721e+01] [ 1.20099883e-02 -3.63474030e-04 9.99927811e-01 2.54052424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.720281693 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:214.07, Y:58.01, Z:2.54 [[ 8.44508613e-01 -5.35442964e-01 -1.02973289e-02 2.14066360e+02] [ 5.35407239e-01 8.44571342e-01 -6.19168383e-03 5.80081436e+01] [ 1.20121224e-02 -2.84334082e-04 9.99927811e-01 2.53646909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.780281693 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:58.03, Z:2.54 [[ 8.47604220e-01 -5.30529050e-01 -1.02962664e-02 2.14117714e+02] [ 5.30492940e-01 8.47666728e-01 -6.19345005e-03 5.80349664e+01] [ 1.20136076e-02 -2.12502248e-04 9.99927811e-01 2.53897549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.840281693 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:214.17, Y:58.06, Z:2.55 [[ 8.49277179e-01 -5.27846836e-01 -1.02952108e-02 2.14167509e+02] [ 5.27810507e-01 8.49339560e-01 -6.19520433e-03 5.80628354e+01] [ 1.20142488e-02 -1.72474758e-04 9.99927811e-01 2.54572101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90028169299998 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:214.22, Y:58.09, Z:2.55 [[ 8.50356252e-01 -5.26106705e-01 -1.02946226e-02 2.14218040e+02] [ 5.26070236e-01 8.50418552e-01 -6.19618162e-03 5.80915491e+01] [ 1.20145907e-02 -1.46732741e-04 9.99927811e-01 2.54894216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96028169299998 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:214.27, Y:58.12, Z:2.55 [[ 8.52823780e-01 -5.22097351e-01 -1.02934911e-02 2.14269257e+02] [ 5.22060567e-01 8.52885894e-01 -6.19806069e-03 5.81182356e+01] [ 1.20151644e-02 -8.79722550e-05 9.99927811e-01 2.54558657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.020281693 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:214.32, Y:58.15, Z:2.55 [[ 8.57177074e-01 -5.14918944e-01 -1.02929991e-02 2.14319209e+02] [ 5.14881630e-01 8.57238871e-01 -6.19887772e-03 5.81465476e+01] [ 1.20154785e-02 1.38597357e-05 9.99927811e-01 2.54642564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.080281693 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:214.37, Y:58.17, Z:2.55 [[ 8.59306555e-01 -5.11357320e-01 -1.02924936e-02 2.14370029e+02] [ 5.11319740e-01 8.59368191e-01 -6.19971680e-03 5.81741185e+01] [ 1.20153122e-02 6.47021163e-05 9.99927811e-01 2.55095625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.140281693 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:214.42, Y:58.21, Z:2.55 [[ 8.60343402e-01 -5.09610946e-01 -1.02914535e-02 2.14418855e+02] [ 5.09573220e-01 8.60404949e-01 -6.20144287e-03 5.82051120e+01] [ 1.20151407e-02 9.11213388e-05 9.99927811e-01 2.55394914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.200281693 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:214.47, Y:58.24, Z:2.55 [[ 8.62178185e-01 -5.06500626e-01 -1.02904141e-02 2.14465930e+02] [ 5.06462658e-01 8.62239582e-01 -6.20316713e-03 5.82388145e+01] [ 1.20147104e-02 1.36524886e-04 9.99927811e-01 2.55305856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.260281693 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:214.51, Y:58.27, Z:2.55 [[ 8.62462931e-01 -5.06015634e-01 -1.02893275e-02 2.14513109e+02] [ 5.05977610e-01 8.62524293e-01 -6.20496906e-03 5.82731122e+01] [ 1.20146063e-02 1.45386479e-04 9.99927811e-01 2.55283899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.320281693 meters Centerline goodness : 0.999280 with order 1 Centerline is valid? [True, True] Translation: X:214.56, Y:58.31, Z:2.55 [[ 8.60853717e-01 -5.08748494e-01 -1.02882089e-02 2.14557763e+02] [ 5.08710643e-01 8.60915186e-01 -6.20682322e-03 5.83096271e+01] [ 1.20149872e-02 1.09445493e-04 9.99927811e-01 2.54922318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.380281693 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:214.60, Y:58.34, Z:2.54 [[ 8.56806500e-01 -5.15535434e-01 -1.02877251e-02 2.14604319e+02] [ 5.15498060e-01 8.56868260e-01 -6.20762504e-03 5.83440493e+01] [ 1.20154757e-02 1.54311731e-05 9.99927811e-01 2.54437352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.440281693 meters Centerline goodness : 0.999469 with order 1 Centerline is valid? [True, True] Translation: X:214.65, Y:58.37, Z:2.55 [[ 8.50808813e-01 -5.25374676e-01 -1.02865442e-02 2.14653595e+02] [ 5.25337992e-01 8.50870986e-01 -6.20958127e-03 5.83717304e+01] [ 1.20148787e-02 -1.20745988e-04 9.99927811e-01 2.54786280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.500281693 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:214.71, Y:58.40, Z:2.55 [[ 8.46644234e-01 -5.32059908e-01 -1.02857432e-02 2.14705026e+02] [ 5.32023698e-01 8.46706684e-01 -6.21090776e-03 5.83973033e+01] [ 1.20135825e-02 -2.13829883e-04 9.99927811e-01 2.54654514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.560281693 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:214.76, Y:58.42, Z:2.55 [[ 8.44873575e-01 -5.34867139e-01 -1.02852421e-02 2.14756672e+02] [ 5.34831128e-01 8.44936139e-01 -6.21173739e-03 5.84231861e+01] [ 1.20128270e-02 -2.52734870e-04 9.99927811e-01 2.54614961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.620281693 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:214.81, Y:58.44, Z:2.55 [[ 8.42700306e-01 -5.38284711e-01 -1.02841362e-02 2.14811486e+02] [ 5.38248931e-01 8.42763003e-01 -6.21356777e-03 5.84449907e+01] [ 1.20117581e-02 -2.99249870e-04 9.99927811e-01 2.55072777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68028169299998 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:214.87, Y:58.47, Z:2.55 [[ 8.43145213e-01 -5.37587585e-01 -1.02829508e-02 2.14865392e+02] [ 5.37551729e-01 8.43207867e-01 -6.21552899e-03 5.84681599e+01] [ 1.20120562e-02 -2.87024451e-04 9.99927811e-01 2.55305490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.740281693 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:214.92, Y:58.50, Z:2.55 [[ 8.47494283e-01 -5.30704933e-01 -1.02817588e-02 2.14915291e+02] [ 5.30668544e-01 8.47556629e-01 -6.21750010e-03 5.84953821e+01] [ 1.20140308e-02 -1.86910202e-04 9.99927811e-01 2.55135592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.800281693 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:214.96, Y:58.53, Z:2.55 [[ 8.51390578e-01 -5.24431482e-01 -1.02812444e-02 2.14964161e+02] [ 5.24394623e-01 8.51452648e-01 -6.21835060e-03 5.85263453e+01] [ 1.20150916e-02 -9.71841768e-05 9.99927811e-01 2.55176840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.860281693 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:215.01, Y:58.56, Z:2.55 [[ 8.55443915e-01 -5.17793423e-01 -1.02800681e-02 2.15012054e+02] [ 5.17756059e-01 8.55505682e-01 -6.22029469e-03 5.85576111e+01] [ 1.20154843e-02 -1.45430052e-06 9.99927811e-01 2.55420858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.920281693 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:215.06, Y:58.59, Z:2.56 [[ 8.60318989e-01 -5.09652399e-01 -1.02795581e-02 2.15058191e+02] [ 5.09614441e-01 8.60380392e-01 -6.22113744e-03 5.85919470e+01] [ 1.20149478e-02 1.13551441e-04 9.99927811e-01 2.55961658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.980281693 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:215.10, Y:58.63, Z:2.56 [[ 8.62262215e-01 -5.06357792e-01 -1.02790625e-02 2.15104330e+02] [ 5.06319589e-01 8.62323467e-01 -6.22195621e-03 5.86269504e+01] [ 1.20144128e-02 1.60467062e-04 9.99927811e-01 2.55868063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.040281693 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:215.15, Y:58.66, Z:2.55 [[ 8.61496309e-01 -5.07659801e-01 -1.02779356e-02 2.15150419e+02] [ 5.07621669e-01 8.61557604e-01 -6.22381711e-03 5.86623958e+01] [ 1.20146153e-02 1.44492656e-04 9.99927811e-01 2.55287193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.100281693 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:215.20, Y:58.70, Z:2.55 [[ 8.58569998e-01 -5.12593352e-01 -1.02768186e-02 2.15197844e+02] [ 5.12555550e-01 8.58631498e-01 -6.22566099e-03 5.86964400e+01] [ 1.20152326e-02 7.77253566e-05 9.99927811e-01 2.55174730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.160281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:215.24, Y:58.73, Z:2.56 [[ 8.56675039e-01 -5.15754095e-01 -1.02756983e-02 2.15244974e+02] [ 5.15716498e-01 8.56736664e-01 -6.22750942e-03 5.87305385e+01] [ 1.20154310e-02 3.56047227e-05 9.99927811e-01 2.55865286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.220281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:215.29, Y:58.76, Z:2.56 [[ 8.55326038e-01 -5.17988226e-01 -1.02745805e-02 2.15291872e+02] [ 5.17950768e-01 8.55387747e-01 -6.22935316e-03 5.87639373e+01] [ 1.20154819e-02 6.40110218e-06 9.99927811e-01 2.55837599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.280281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:215.34, Y:58.80, Z:2.56 [[ 8.54357309e-01 -5.19584482e-01 -1.02739740e-02 2.15340608e+02] [ 5.19547127e-01 8.54419081e-01 -6.23035324e-03 5.87953203e+01] [ 1.20154743e-02 -1.48658630e-05 9.99927811e-01 2.55966463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.340281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:215.39, Y:58.83, Z:2.56 [[ 8.53293007e-01 -5.21330520e-01 -1.02728793e-02 2.15388123e+02] [ 5.21293270e-01 8.53354842e-01 -6.23215777e-03 5.88269799e+01] [ 1.20154253e-02 -3.73261921e-05 9.99927811e-01 2.55801492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40028169299998 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:215.44, Y:58.86, Z:2.56 [[ 8.51095816e-01 -5.24909889e-01 -1.02722935e-02 2.15435788e+02] [ 5.24872887e-01 8.51157800e-01 -6.23312312e-03 5.88600242e+01] [ 1.20151707e-02 -8.66633418e-05 9.99927811e-01 2.55896162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46028169299998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:215.48, Y:58.89, Z:2.56 [[ 8.50575992e-01 -5.25751827e-01 -1.02712194e-02 2.15484396e+02] [ 5.25714865e-01 8.50638000e-01 -6.23489256e-03 5.88916696e+01] [ 1.20150957e-02 -9.64828046e-05 9.99927811e-01 2.56400254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.520281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:215.53, Y:58.93, Z:2.57 [[ 8.52674463e-01 -5.22341635e-01 -1.02701543e-02 2.15529734e+02] [ 5.22304404e-01 8.52736310e-01 -6.23664659e-03 5.89266049e+01] [ 1.20153936e-02 -4.63175160e-05 9.99927811e-01 2.56744322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.580281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:215.57, Y:58.96, Z:2.56 [[ 8.56884052e-01 -5.15406885e-01 -1.02695865e-02 2.15574466e+02] [ 5.15369142e-01 8.56945588e-01 -6.23758146e-03 5.89642827e+01] [ 1.20153692e-02 5.22561254e-05 9.99927811e-01 2.56051544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.640281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:215.62, Y:59.00, Z:2.56 [[ 8.59357535e-01 -5.11272123e-01 -1.02685478e-02 2.15619967e+02] [ 5.11234063e-01 8.59418876e-01 -6.23929087e-03 5.90003436e+01] [ 1.20149593e-02 1.12150214e-04 9.99927811e-01 2.56050715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.700281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:215.67, Y:59.04, Z:2.56 [[ 8.60532764e-01 -5.09291607e-01 -1.02675024e-02 2.15665011e+02] [ 5.09253386e-01 8.60594004e-01 -6.24101079e-03 5.90372414e+01] [ 1.20146454e-02 1.41833926e-04 9.99927811e-01 2.56303843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.760281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:215.71, Y:59.07, Z:2.56 [[ 8.59017540e-01 -5.11843205e-01 -1.02664548e-02 2.15710606e+02] [ 5.11805145e-01 8.59078880e-01 -6.24273354e-03 5.90731027e+01] [ 1.20149952e-02 1.08193220e-04 9.99927811e-01 2.55678015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.820281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.76, Y:59.11, Z:2.56 [[ 8.59165249e-01 -5.11595247e-01 -1.02654083e-02 2.15757486e+02] [ 5.11557149e-01 8.59226565e-01 -6.24445387e-03 5.91078094e+01] [ 1.20149445e-02 1.13674746e-04 9.99927811e-01 2.56104792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.880281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.80, Y:59.14, Z:2.56 [[ 8.60568661e-01 -5.09231011e-01 -1.02643602e-02 2.15803446e+02] [ 5.09192723e-01 8.60629860e-01 -6.24617627e-03 5.91439272e+01] [ 1.20145615e-02 1.48726030e-04 9.99927811e-01 2.56319711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.940281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:215.85, Y:59.18, Z:2.56 [[ 8.60633394e-01 -5.09121621e-01 -1.02633163e-02 2.15851076e+02] [ 5.09083306e-01 8.60694575e-01 -6.24789112e-03 5.91765851e+01] [ 1.20145171e-02 1.52260768e-04 9.99927811e-01 2.56428827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.000281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:215.90, Y:59.21, Z:2.57 [[ 8.58965425e-01 -5.11930741e-01 -1.02622704e-02 2.15899679e+02] [ 5.11892606e-01 8.59026718e-01 -6.24960854e-03 5.92081214e+01] [ 1.20149312e-02 1.15017333e-04 9.99927811e-01 2.56976197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.060281693 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:215.95, Y:59.24, Z:2.57 [[ 8.56281391e-01 -5.16407674e-01 -1.02612212e-02 2.15947694e+02] [ 5.16369838e-01 8.56342870e-01 -6.25133066e-03 5.92410184e+01] [ 1.20153588e-02 5.43129753e-05 9.99927811e-01 2.56793067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.120281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:215.99, Y:59.27, Z:2.57 [[ 8.54109633e-01 -5.19991795e-01 -1.02600154e-02 2.15994603e+02] [ 5.19954193e-01 8.54171255e-01 -6.25330913e-03 5.92742817e+01] [ 1.20154797e-02 6.27355108e-06 9.99927811e-01 2.56893295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18028169299998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:216.04, Y:59.31, Z:2.57 [[ 8.52694040e-01 -5.22309886e-01 -1.02594954e-02 2.16043786e+02] [ 5.22272442e-01 8.52755758e-01 -6.25416216e-03 5.93054179e+01] [ 1.20154545e-02 -2.53649008e-05 9.99927811e-01 2.57099766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.240281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:216.09, Y:59.34, Z:2.57 [[ 8.49602132e-01 -5.27324364e-01 -1.02583225e-02 2.16093548e+02] [ 5.27287260e-01 8.49664055e-01 -6.25608541e-03 5.93352158e+01] [ 1.20151141e-02 -9.38992581e-05 9.99927812e-01 2.56755298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.300281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:59.36, Z:2.57 [[ 8.46368811e-01 -5.32498476e-01 -1.02571625e-02 2.16146099e+02] [ 5.32461728e-01 8.46430946e-01 -6.25798662e-03 5.93587278e+01] [ 1.20143481e-02 -1.64981784e-04 9.99927812e-01 2.57024722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.360281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:216.20, Y:59.38, Z:2.57 [[ 8.45873066e-01 -5.33285624e-01 -1.02566625e-02 2.16199782e+02] [ 5.33248924e-01 8.45935229e-01 -6.25880596e-03 5.93817230e+01] [ 1.20142034e-02 -1.75198882e-04 9.99927812e-01 2.57128272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.420281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:216.25, Y:59.41, Z:2.57 [[ 8.46986445e-01 -5.31515556e-01 -1.02555305e-02 2.16252766e+02] [ 5.31478704e-01 8.47048518e-01 -6.26066032e-03 5.94064643e+01] [ 1.20145703e-02 -1.47901639e-04 9.99927812e-01 2.57095336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.480281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:216.31, Y:59.43, Z:2.58 [[ 8.49661437e-01 -5.27228878e-01 -1.02543878e-02 2.16306683e+02] [ 5.27191689e-01 8.49723310e-01 -6.26253152e-03 5.94287070e+01] [ 1.20151798e-02 -8.49964695e-05 9.99927812e-01 2.57759145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.540281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:216.36, Y:59.45, Z:2.58 [[ 8.51371206e-01 -5.24463479e-01 -1.02532508e-02 2.16358876e+02] [ 5.24426067e-01 8.51432944e-01 -6.26439248e-03 5.94546794e+01] [ 1.20154006e-02 -4.37485900e-05 9.99927812e-01 2.57783362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.600281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:216.41, Y:59.48, Z:2.57 [[ 8.52477129e-01 -5.22663983e-01 -1.02520946e-02 2.16409931e+02] [ 5.22626419e-01 8.52538773e-01 -6.26628408e-03 5.94806194e+01] [ 1.20154691e-02 -1.61516103e-05 9.99927812e-01 2.57476108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.660281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:216.46, Y:59.51, Z:2.58 [[ 8.53211570e-01 -5.21464215e-01 -1.02513093e-02 2.16460862e+02] [ 5.21426548e-01 8.53273152e-01 -6.26756848e-03 5.95089303e+01] [ 1.20154797e-02 2.25711715e-06 9.99927812e-01 2.57678218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.720281693 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:216.51, Y:59.53, Z:2.58 [[ 8.53068162e-01 -5.21698806e-01 -1.02501833e-02 2.16512135e+02] [ 5.21661134e-01 8.53129741e-01 -6.26940945e-03 5.95348629e+01] [ 1.20154797e-02 1.11135184e-06 9.99927812e-01 2.57879768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.780281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:216.56, Y:59.56, Z:2.58 [[ 8.52584314e-01 -5.22489168e-01 -1.02496960e-02 2.16563065e+02] [ 5.22451543e-01 8.52645923e-01 -6.27020601e-03 5.95627245e+01] [ 1.20154762e-02 -9.09020750e-06 9.99927812e-01 2.57613261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.840281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:216.61, Y:59.59, Z:2.57 [[ 8.53502509e-01 -5.20987939e-01 -1.02485944e-02 2.16613217e+02] [ 5.20950185e-01 8.53564038e-01 -6.27200600e-03 5.95891939e+01] [ 1.20154711e-02 1.41656878e-05 9.99927812e-01 2.57266478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90028169299998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:216.67, Y:59.61, Z:2.57 [[ 8.56160323e-01 -5.16608632e-01 -1.02480304e-02 2.16666047e+02] [ 5.16570552e-01 8.56221651e-01 -6.27292747e-03 5.96147015e+01] [ 1.20152340e-02 7.68008987e-05 9.99927812e-01 2.57482490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96028169299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.72, Y:59.64, Z:2.58 [[ 8.59725949e-01 -5.10652814e-01 -1.02467895e-02 2.16717818e+02] [ 5.10614285e-01 8.59786995e-01 -6.27495376e-03 5.96399451e+01] [ 1.20143792e-02 1.62583471e-04 9.99927812e-01 2.57632757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.020281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:216.77, Y:59.67, Z:2.58 [[ 8.61878780e-01 -5.07010832e-01 -1.02462513e-02 2.16769126e+02] [ 5.06972034e-01 8.61939656e-01 -6.27583256e-03 5.96677730e+01] [ 1.20135654e-02 2.14444055e-04 9.99927812e-01 2.57865939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.080281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:216.82, Y:59.70, Z:2.58 [[ 8.63741088e-01 -5.03831688e-01 -1.02451632e-02 2.16820263e+02] [ 5.03792646e-01 8.63801807e-01 -6.27760839e-03 5.96957910e+01] [ 1.20126485e-02 2.60790446e-04 9.99927812e-01 2.57974897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.140281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:216.87, Y:59.73, Z:2.58 [[ 8.66215506e-01 -4.99565566e-01 -1.02440881e-02 2.16869723e+02] [ 4.99526204e-01 8.66276019e-01 -6.27936226e-03 5.97258939e+01] [ 1.20111610e-02 3.22090529e-04 9.99927812e-01 2.58081959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.200281693 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:216.92, Y:59.76, Z:2.59 [[ 8.67850772e-01 -4.96719357e-01 -1.02429261e-02 2.16917362e+02] [ 4.96679773e-01 8.67911141e-01 -6.28125717e-03 5.97569767e+01] [ 1.20099717e-02 3.63739696e-04 9.99927812e-01 2.58536165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.260281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:216.97, Y:59.79, Z:2.58 [[ 8.68693425e-01 -4.95244208e-01 -1.02424249e-02 2.16965490e+02] [ 4.95204513e-01 8.68753720e-01 -6.28207422e-03 5.97901223e+01] [ 1.20093056e-02 3.85101528e-04 9.99927812e-01 2.58476951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.320281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:217.01, Y:59.82, Z:2.59 [[ 8.68407236e-01 -4.95745892e-01 -1.02412842e-02 2.17013264e+02] [ 4.95706209e-01 8.68467539e-01 -6.28393331e-03 5.98228115e+01] [ 1.20094570e-02 3.80344977e-04 9.99927812e-01 2.58544659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.380281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:217.06, Y:59.86, Z:2.59 [[ 8.67219242e-01 -4.97821179e-01 -1.02401019e-02 2.17060980e+02] [ 4.97781618e-01 8.67279625e-01 -6.28585940e-03 5.98562993e+01] [ 1.20102657e-02 3.53883743e-04 9.99927812e-01 2.59144085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.440281693 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:217.11, Y:59.89, Z:2.59 [[ 8.67330428e-01 -4.97627448e-01 -1.02397369e-02 2.17108178e+02] [ 4.97587867e-01 8.67390797e-01 -6.28645387e-03 5.98903674e+01] [ 1.20101656e-02 3.57263870e-04 9.99927812e-01 2.59003750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.500281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:217.15, Y:59.93, Z:2.59 [[ 8.68365245e-01 -4.95819496e-01 -1.02385722e-02 2.17153460e+02] [ 4.95779767e-01 8.68425518e-01 -6.28835027e-03 5.99273361e+01] [ 1.20093240e-02 3.84507893e-04 9.99927812e-01 2.58650557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.560281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:217.20, Y:59.96, Z:2.59 [[ 8.67850362e-01 -4.96720187e-01 -1.02374134e-02 2.17197995e+02] [ 4.96680498e-01 8.67910661e-01 -6.29023614e-03 5.99634187e+01] [ 1.20096475e-02 3.74260115e-04 9.99927812e-01 2.58693460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.620281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:217.24, Y:60.00, Z:2.59 [[ 8.66497733e-01 -4.99076036e-01 -1.02366277e-02 2.17244765e+02] [ 4.99036496e-01 8.66558130e-01 -6.29151466e-03 5.99980080e+01] [ 1.20105771e-02 3.43132400e-04 9.99927812e-01 2.58619984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68028169299998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:217.29, Y:60.03, Z:2.59 [[ 8.64671299e-01 -5.02233790e-01 -1.02354774e-02 2.17290243e+02] [ 5.02194448e-01 8.64731825e-01 -6.29338537e-03 6.00339886e+01] [ 1.20116939e-02 3.01509756e-04 9.99927812e-01 2.58855434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.740281693 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:217.33, Y:60.07, Z:2.59 [[ 8.64658151e-01 -5.02256449e-01 -1.02343135e-02 2.17334934e+02] [ 5.02217087e-01 8.64718664e-01 -6.29527763e-03 6.00725710e+01] [ 1.20116457e-02 3.03416020e-04 9.99927812e-01 2.58875763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.800281693 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:217.38, Y:60.11, Z:2.59 [[ 8.63598478e-01 -5.04076335e-01 -1.02331550e-02 2.17379466e+02] [ 5.04037078e-01 8.63659059e-01 -6.29716015e-03 6.01098480e+01] [ 1.20122065e-02 2.80328362e-04 9.99927812e-01 2.58760645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.860281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:217.43, Y:60.14, Z:2.59 [[ 8.61125606e-01 -5.08289272e-01 -1.02326550e-02 2.17425261e+02] [ 5.08250302e-01 8.61186372e-01 -6.29797262e-03 6.01433098e+01] [ 1.20134149e-02 2.22595505e-04 9.99927812e-01 2.59091580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.920281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:217.47, Y:60.17, Z:2.59 [[ 8.55971740e-01 -5.16921352e-01 -1.02321607e-02 2.17472976e+02] [ 5.16882985e-01 8.56032888e-01 -6.29877556e-03 6.01740622e+01] [ 1.20150376e-02 1.02744117e-04 9.99927812e-01 2.59297704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.980281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:217.52, Y:60.21, Z:2.59 [[ 8.52081437e-01 -5.23309218e-01 -1.02316704e-02 2.17521806e+02] [ 5.23271300e-01 8.52142865e-01 -6.29957186e-03 6.02057116e+01] [ 1.20154690e-02 1.38087653e-05 9.99927812e-01 2.59327485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.040281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:217.57, Y:60.23, Z:2.59 [[ 8.50187024e-01 -5.26381382e-01 -1.02305593e-02 2.17571668e+02] [ 5.26343664e-01 8.50248576e-01 -6.30137584e-03 6.02346902e+01] [ 1.20154454e-02 -2.74420763e-05 9.99927812e-01 2.59332422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.100281693 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:217.62, Y:60.26, Z:2.59 [[ 8.47729136e-01 -5.30330718e-01 -1.02294151e-02 2.17621676e+02] [ 5.30293265e-01 8.47790848e-01 -6.30323278e-03 6.02639572e+01] [ 1.20152024e-02 -8.11558307e-05 9.99927812e-01 2.59410526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.160281693 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:217.67, Y:60.29, Z:2.59 [[ 8.45540409e-01 -5.33813450e-01 -1.02282828e-02 2.17672894e+02] [ 5.33776229e-01 8.45602261e-01 -6.30506953e-03 6.02888784e+01] [ 1.20147900e-02 -1.28423171e-04 9.99927812e-01 2.58869161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.220281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:217.72, Y:60.31, Z:2.59 [[ 8.42672695e-01 -5.38329008e-01 -1.02278109e-02 2.17724861e+02] [ 5.38292109e-01 8.42734740e-01 -6.30583490e-03 6.03146661e+01] [ 1.20139454e-02 -1.91795030e-04 9.99927812e-01 2.59369678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.280281693 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:217.78, Y:60.34, Z:2.60 [[ 8.41017018e-01 -5.40911999e-01 -1.02266258e-02 2.17777241e+02] [ 5.40875267e-01 8.41079163e-01 -6.30775628e-03 6.03403320e+01] [ 1.20133430e-02 -2.26398607e-04 9.99927812e-01 2.59503080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.340281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:217.83, Y:60.36, Z:2.59 [[ 8.39930407e-01 -5.42597781e-01 -1.02254422e-02 2.17832800e+02] [ 5.42561150e-01 8.39992611e-01 -6.30967445e-03 6.03617101e+01] [ 1.20129113e-02 -2.48240263e-04 9.99927812e-01 2.59160112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40028169299998 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:217.89, Y:60.38, Z:2.59 [[ 8.40149909e-01 -5.42257867e-01 -1.02242623e-02 2.17887762e+02] [ 5.42221188e-01 8.40212085e-01 -6.31158586e-03 6.03812802e+01] [ 1.20130558e-02 -2.41133349e-04 9.99927812e-01 2.59407952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46028169299998 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:217.94, Y:60.40, Z:2.60 [[ 8.41163921e-01 -5.40683579e-01 -1.02237513e-02 2.17944251e+02] [ 5.40646773e-01 8.41226022e-01 -6.31241339e-03 6.04009678e+01] [ 1.20135039e-02 -2.17663771e-04 9.99927812e-01 2.59743484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.520281693 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:218.00, Y:60.42, Z:2.60 [[ 8.44744045e-01 -5.35072890e-01 -1.02225599e-02 2.17997438e+02] [ 5.35035649e-01 8.44805885e-01 -6.31434234e-03 6.04241714e+01] [ 1.20147121e-02 -1.35430858e-04 9.99927812e-01 2.59971919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.580281693 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:218.05, Y:60.45, Z:2.60 [[ 8.51272921e-01 -5.24623603e-01 -1.02220466e-02 2.18048088e+02] [ 5.24585592e-01 8.51334291e-01 -6.31517317e-03 6.04508964e+01] [ 1.20154677e-02 1.35975611e-05 9.99927812e-01 2.59640822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.640281693 meters Centerline goodness : 0.999406 with order 1 Centerline is valid? [True, True] Translation: X:218.10, Y:60.48, Z:2.60 [[ 8.53665291e-01 -5.20721704e-01 -1.02214372e-02 2.18096744e+02] [ 5.20683401e-01 8.53726480e-01 -6.31615930e-03 6.04820409e+01] [ 1.20152728e-02 6.97532799e-05 9.99927812e-01 2.59560660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.700281693 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:218.14, Y:60.52, Z:2.60 [[ 8.57665897e-01 -5.14105781e-01 -1.02202887e-02 2.18142836e+02] [ 5.14066984e-01 8.57726774e-01 -6.31801720e-03 6.05151631e+01] [ 1.20143444e-02 1.64834920e-04 9.99927812e-01 2.59684331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.760281693 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:218.19, Y:60.55, Z:2.61 [[ 8.60067996e-01 -5.10077054e-01 -1.02196528e-02 2.18190028e+02] [ 5.10037960e-01 8.60128682e-01 -6.31904555e-03 6.05498016e+01] [ 1.20134167e-02 2.22397960e-04 9.99927812e-01 2.60701566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.820281693 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:218.24, Y:60.58, Z:2.60 [[ 8.60482351e-01 -5.09377765e-01 -1.02184553e-02 2.18235883e+02] [ 5.09338598e-01 8.60542990e-01 -6.32098148e-03 6.05835547e+01] [ 1.20131875e-02 2.34439311e-04 9.99927812e-01 2.60488393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.880281693 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:218.28, Y:60.62, Z:2.60 [[ 8.61905134e-01 -5.06966600e-01 -1.02179400e-02 2.18280303e+02] [ 5.06927254e-01 8.61965657e-01 -6.32181443e-03 6.06205614e+01] [ 1.20124621e-02 2.69052069e-04 9.99927812e-01 2.60340775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.940281693 meters Centerline goodness : 0.999385 with order 1 Centerline is valid? [True, True] Translation: X:218.33, Y:60.66, Z:2.61 [[ 8.63091398e-01 -5.04944395e-01 -1.02174604e-02 2.18325149e+02] [ 5.04904898e-01 8.63151823e-01 -6.32258942e-03 6.06587757e+01] [ 1.20117756e-02 2.98126747e-04 9.99927812e-01 2.60551871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.000281693 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:218.37, Y:60.69, Z:2.60 [[ 8.62804950e-01 -5.05433720e-01 -1.02162984e-02 2.18371542e+02] [ 5.05394235e-01 8.62865382e-01 -6.32446645e-03 6.06922659e+01] [ 1.20118888e-02 2.93522644e-04 9.99927812e-01 2.60306503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.060281693 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:218.42, Y:60.73, Z:2.60 [[ 8.59900486e-01 -5.10359474e-01 -1.02157970e-02 2.18416871e+02] [ 5.10320325e-01 8.59961137e-01 -6.32527617e-03 6.07287680e+01] [ 1.20133531e-02 2.25779181e-04 9.99927812e-01 2.60167989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.120281693 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:218.46, Y:60.76, Z:2.61 [[ 8.56745751e-01 -5.15637837e-01 -1.02146576e-02 2.18463400e+02] [ 5.15599040e-01 8.56806628e-01 -6.32711578e-03 6.07645384e+01] [ 1.20144866e-02 1.54061927e-04 9.99927812e-01 2.60792724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18028169299998 meters Centerline goodness : 0.998940 with order 1 Centerline is valid? [True, True] Translation: X:218.51, Y:60.80, Z:2.61 [[ 8.55301221e-01 -5.18030410e-01 -1.02135181e-02 2.18511167e+02] [ 5.17991761e-01 8.55362192e-01 -6.32895461e-03 6.07972690e+01] [ 1.20148482e-02 1.22644371e-04 9.99927812e-01 2.60904468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.240281693 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:218.56, Y:60.83, Z:2.61 [[ 8.54519479e-01 -5.19318946e-01 -1.02123882e-02 2.18559560e+02] [ 5.19280367e-01 8.54580494e-01 -6.33077728e-03 6.08287759e+01] [ 1.20150003e-02 1.06679797e-04 9.99927812e-01 2.60736527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.300281693 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:218.61, Y:60.86, Z:2.61 [[ 8.52785995e-01 -5.22160682e-01 -1.02112071e-02 2.18607889e+02] [ 5.22122284e-01 8.52847124e-01 -6.33268177e-03 6.08587400e+01] [ 1.20152760e-02 6.89235488e-05 9.99927812e-01 2.60997276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.360281693 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:218.66, Y:60.89, Z:2.61 [[ 8.49159187e-01 -5.28038278e-01 -1.02104072e-02 2.18658108e+02] [ 5.28000288e-01 8.49220570e-01 -6.33397125e-03 6.08871505e+01] [ 1.20154671e-02 -1.25480562e-05 9.99927812e-01 2.61022121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.420281693 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:218.71, Y:60.91, Z:2.61 [[ 8.44395278e-01 -5.35623362e-01 -1.02092592e-02 2.18710052e+02] [ 5.35585900e-01 8.44456986e-01 -6.33582102e-03 6.09121691e+01] [ 1.20148940e-02 -1.17997940e-04 9.99927812e-01 2.60809645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.480281693 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:218.76, Y:60.94, Z:2.61 [[ 8.42245881e-01 -5.38996899e-01 -1.02087614e-02 2.18763557e+02] [ 5.38959675e-01 8.42307732e-01 -6.33662303e-03 6.09362580e+01] [ 1.20143388e-02 -1.65116082e-04 9.99927812e-01 2.60884787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.540281693 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:218.81, Y:60.97, Z:2.61 [[ 8.42860625e-01 -5.38035103e-01 -1.02076191e-02 2.18814400e+02] [ 5.37997786e-01 8.42922420e-01 -6.33846267e-03 6.09650249e+01] [ 1.20145464e-02 -1.49235862e-04 9.99927812e-01 2.60978618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.600281693 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:218.87, Y:60.99, Z:2.61 [[ 8.43937926e-01 -5.36343737e-01 -1.02064784e-02 2.18866620e+02] [ 5.36306275e-01 8.43999633e-01 -6.34029894e-03 6.09883190e+01] [ 1.20148436e-02 -1.22979659e-04 9.99927812e-01 2.60675103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.660281693 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:218.92, Y:61.01, Z:2.61 [[ 8.43726039e-01 -5.36677007e-01 -1.02058874e-02 2.18919447e+02] [ 5.36639558e-01 8.43787754e-01 -6.34125016e-03 6.10134226e+01] [ 1.20148059e-02 -1.26604998e-04 9.99927812e-01 2.60851733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.720281693 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:218.97, Y:61.04, Z:2.61 [[ 8.43997060e-01 -5.36250712e-01 -1.02047509e-02 2.18974202e+02] [ 5.36213209e-01 8.44058742e-01 -6.34307855e-03 6.10357262e+01] [ 1.20148896e-02 -1.18382554e-04 9.99927812e-01 2.61101373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.780281693 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:219.02, Y:61.06, Z:2.61 [[ 8.45677570e-01 -5.33596603e-01 -1.02035683e-02 2.19024602e+02] [ 5.33558884e-01 8.45739120e-01 -6.34498024e-03 6.10641636e+01] [ 1.20152168e-02 -7.83970505e-05 9.99927812e-01 2.61225070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.840281693 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:219.08, Y:61.09, Z:2.62 [[ 8.49652300e-01 -5.27244612e-01 -1.02023860e-02 2.19076583e+02] [ 5.27206410e-01 8.49713551e-01 -6.34688078e-03 6.10896642e+01] [ 1.20154643e-02 1.38785567e-05 9.99927812e-01 2.61531988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90028169299998 meters Centerline goodness : 0.999295 with order 1 Centerline is valid? [True, True] Translation: X:219.13, Y:61.12, Z:2.61 [[ 8.51712253e-01 -5.23910452e-01 -1.02017638e-02 2.19126885e+02] [ 5.23871997e-01 8.51773347e-01 -6.34788071e-03 6.11196152e+01] [ 1.20153116e-02 6.21493938e-05 9.99927812e-01 2.61278448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96028169299998 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:219.18, Y:61.15, Z:2.62 [[ 8.52127047e-01 -5.23235544e-01 -1.02010422e-02 2.19175557e+02] [ 5.23197027e-01 8.52188101e-01 -6.34904018e-03 6.11498879e+01] [ 1.20152502e-02 7.30339259e-05 9.99927812e-01 2.61703560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.020281693 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:219.22, Y:61.18, Z:2.62 [[ 8.50747576e-01 -5.25475512e-01 -1.02003885e-02 2.19222282e+02] [ 5.25437144e-01 8.50808724e-01 -6.35009025e-03 6.11828577e+01] [ 1.20153964e-02 4.26609050e-05 9.99927812e-01 2.61853185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.080281693 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:219.27, Y:61.21, Z:2.62 [[ 8.49823164e-01 -5.26969216e-01 -1.01997642e-02 2.19271151e+02] [ 5.26930943e-01 8.49884371e-01 -6.35109281e-03 6.12132301e+01] [ 1.20154506e-02 2.27344196e-05 9.99927812e-01 2.61990144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.140281693 meters Centerline goodness : 0.999447 with order 1 Centerline is valid? [True, True] Translation: X:219.32, Y:61.24, Z:2.62 [[ 8.48551357e-01 -5.29014729e-01 -1.01985862e-02 2.19320729e+02] [ 5.28976581e-01 8.48612642e-01 -6.35298392e-03 6.12437945e+01] [ 1.20154712e-02 -3.98011182e-06 9.99927812e-01 2.61501803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.200281693 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:219.37, Y:61.28, Z:2.61 [[ 8.48114113e-01 -5.29715455e-01 -1.01974205e-02 2.19369575e+02] [ 5.29677335e-01 8.48175416e-01 -6.35485451e-03 6.12754884e+01] [ 1.20154660e-02 -1.17007000e-05 9.99927812e-01 2.61061970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.260281693 meters Centerline goodness : 0.999448 with order 1 Centerline is valid? [True, True] Translation: X:219.42, Y:61.31, Z:2.62 [[ 8.49917128e-01 -5.26817707e-01 -1.01970606e-02 2.19416495e+02] [ 5.26779371e-01 8.49978296e-01 -6.35543180e-03 6.13117712e+01] [ 1.20154342e-02 2.99891488e-05 9.99927812e-01 2.61738801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.320281693 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:219.46, Y:61.35, Z:2.62 [[ 8.51890084e-01 -5.23621357e-01 -1.01960603e-02 2.19460662e+02] [ 5.23582772e-01 8.51951095e-01 -6.35703632e-03 6.13498318e+01] [ 1.20152247e-02 7.70147123e-05 9.99927812e-01 2.61870747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.380281693 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:219.51, Y:61.39, Z:2.61 [[ 8.52102056e-01 -5.23276360e-01 -1.01949217e-02 2.19505488e+02] [ 5.23237729e-01 8.52163038e-01 -6.35886168e-03 6.13881803e+01] [ 1.20151775e-02 8.40314194e-05 9.99927812e-01 2.61365857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.440281693 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:219.55, Y:61.42, Z:2.61 [[ 8.50746335e-01 -5.25477639e-01 -1.01943329e-02 2.19551665e+02] [ 5.25439155e-01 8.50807409e-01 -6.35980558e-03 6.14239380e+01] [ 1.20153496e-02 5.40796390e-05 9.99927812e-01 2.61261691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.500281693 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:219.60, Y:61.46, Z:2.62 [[ 8.47267674e-01 -5.31068344e-01 -1.01932184e-02 2.19598675e+02] [ 5.31030241e-01 8.47328988e-01 -6.36159135e-03 6.14591702e+01] [ 1.20154492e-02 -2.29365057e-05 9.99927812e-01 2.61736203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.560281693 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:219.65, Y:61.49, Z:2.62 [[ 8.45397865e-01 -5.34039858e-01 -1.01921549e-02 2.19646261e+02] [ 5.34001950e-01 8.45459299e-01 -6.36329472e-03 6.14896231e+01] [ 1.20153052e-02 -6.31148214e-05 9.99927812e-01 2.61838092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.620281693 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:219.69, Y:61.52, Z:2.62 [[ 8.44792593e-01 -5.34996827e-01 -1.01916307e-02 2.19693715e+02] [ 5.34958979e-01 8.44854064e-01 -6.36413425e-03 6.15212178e+01] [ 1.20152322e-02 -7.57308509e-05 9.99927812e-01 2.62079073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68028169299998 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:219.74, Y:61.55, Z:2.62 [[ 8.43678896e-01 -5.36751399e-01 -1.01910021e-02 2.19742913e+02] [ 5.36713666e-01 8.43740437e-01 -6.36514070e-03 6.15527123e+01] [ 1.20150587e-02 -9.95151940e-05 9.99927812e-01 2.62243913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.740281693 meters Centerline goodness : 0.999406 with order 1 Centerline is valid? [True, True] Translation: X:219.79, Y:61.58, Z:2.62 [[ 8.41283826e-01 -5.40497633e-01 -1.01897997e-02 2.19792972e+02] [ 5.40460151e-01 8.41345521e-01 -6.36706488e-03 6.15803284e+01] [ 1.20145259e-02 -1.50671994e-04 9.99927812e-01 2.62338162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.800281693 meters Centerline goodness : 0.999597 with order 1 Centerline is valid? [True, True] Translation: X:219.84, Y:61.61, Z:2.62 [[ 8.39946178e-01 -5.42574047e-01 -1.01892805e-02 2.19844001e+02] [ 5.42536707e-01 8.40007959e-01 -6.36789577e-03 6.16082051e+01] [ 1.20141317e-02 -1.79368950e-04 9.99927812e-01 2.62109235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.860281693 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:219.89, Y:61.64, Z:2.62 [[ 8.40092895e-01 -5.42346873e-01 -1.01881066e-02 2.19892428e+02] [ 5.42309493e-01 8.40154652e-01 -6.36977331e-03 6.16398398e+01] [ 1.20142118e-02 -1.73905629e-04 9.99927812e-01 2.62420001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.920281693 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:219.94, Y:61.67, Z:2.63 [[ 8.41756149e-01 -5.39761811e-01 -1.01868943e-02 2.19940935e+02] [ 5.39724219e-01 8.41817777e-01 -6.37171156e-03 6.16705415e+01] [ 1.20147152e-02 -1.34686159e-04 9.99927812e-01 2.62682209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.980281693 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:219.99, Y:61.70, Z:2.63 [[ 8.42315370e-01 -5.38888723e-01 -1.01863782e-02 2.19989731e+02] [ 5.38851056e-01 8.42376952e-01 -6.37253639e-03 6.17019678e+01] [ 1.20148583e-02 -1.21255329e-04 9.99927812e-01 2.63112113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.040281693 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:220.04, Y:61.73, Z:2.63 [[ 8.42009713e-01 -5.39366206e-01 -1.01852298e-02 2.20038818e+02] [ 5.39328552e-01 8.42071304e-01 -6.37437142e-03 6.17344076e+01] [ 1.20148103e-02 -1.25902593e-04 9.99927812e-01 2.62714229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.100281693 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:220.09, Y:61.77, Z:2.63 [[ 8.41611682e-01 -5.39987092e-01 -1.01841710e-02 2.20085870e+02] [ 5.39949464e-01 8.41673287e-01 -6.37606266e-03 6.17674766e+01] [ 1.20147362e-02 -1.32768833e-04 9.99927812e-01 2.62831527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.160281693 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:220.13, Y:61.80, Z:2.63 [[ 8.41102429e-01 -5.40779989e-01 -1.01836483e-02 2.20134711e+02] [ 5.40742408e-01 8.41164064e-01 -6.37689732e-03 6.17977773e+01] [ 1.20146175e-02 -1.43106685e-04 9.99927812e-01 2.63010609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.220281693 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:220.19, Y:61.83, Z:2.63 [[ 8.40154628e-01 -5.42251343e-01 -1.01824697e-02 2.20185584e+02] [ 5.42213847e-01 8.40216314e-01 -6.37877878e-03 6.18263084e+01] [ 1.20143785e-02 -1.61915543e-04 9.99927812e-01 2.63056075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.280281693 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:220.24, Y:61.85, Z:2.63 [[ 8.38641750e-01 -5.44588244e-01 -1.01812988e-02 2.20236719e+02] [ 5.44550898e-01 8.38703527e-01 -6.38064714e-03 6.18515616e+01] [ 1.20139166e-02 -1.93158299e-04 9.99927812e-01 2.63013194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.340281693 meters Centerline goodness : 0.999428 with order 1 Centerline is valid? [True, True] Translation: X:220.29, Y:61.88, Z:2.63 [[ 8.37438589e-01 -5.46436605e-01 -1.01806701e-02 2.20287315e+02] [ 5.46399383e-01 8.37500441e-01 -6.38165004e-03 6.18792095e+01] [ 1.20134829e-02 -2.18471847e-04 9.99927812e-01 2.63047582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40028169299998 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:220.34, Y:61.90, Z:2.63 [[ 8.38499309e-01 -5.44807568e-01 -1.01795314e-02 2.20339168e+02] [ 5.44770203e-01 8.38561075e-01 -6.38346587e-03 6.19041992e+01] [ 1.20139193e-02 -1.92973678e-04 9.99927812e-01 2.63108521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46028169299998 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:220.39, Y:61.93, Z:2.64 [[ 8.41828919e-01 -5.39648463e-01 -1.01787590e-02 2.20390041e+02] [ 5.39610706e-01 8.41890445e-01 -6.38469734e-03 6.19319094e+01] [ 1.20148920e-02 -1.17744449e-04 9.99927812e-01 2.63639402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.520281693 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:220.44, Y:61.96, Z:2.64 [[ 8.45386413e-01 -5.34058265e-01 -1.01775612e-02 2.20439650e+02] [ 5.34020077e-01 8.45447673e-01 -6.38660607e-03 6.19604471e+01] [ 1.20154152e-02 -3.58720257e-05 9.99927812e-01 2.64025913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.580281693 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:220.49, Y:61.99, Z:2.64 [[ 8.46982424e-01 -5.31523472e-01 -1.01770687e-02 2.20488977e+02] [ 5.31485091e-01 8.47043564e-01 -6.38739072e-03 6.19891065e+01] [ 1.20154687e-02 1.04736137e-06 9.99927812e-01 2.64253822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.640281693 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:220.54, Y:62.02, Z:2.64 [[ 8.46864155e-01 -5.31711898e-01 -1.01764420e-02 2.20538729e+02] [ 5.31673519e-01 8.46925296e-01 -6.38838905e-03 6.20184649e+01] [ 1.20154686e-02 -4.47052813e-07 9.99927812e-01 2.64088710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.700281693 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:220.59, Y:62.05, Z:2.64 [[ 8.44702586e-01 -5.35139239e-01 -1.01752675e-02 2.20588030e+02] [ 5.35101086e-01 8.44763868e-01 -6.39025928e-03 6.20472064e+01] [ 1.20153768e-02 -4.69281430e-05 9.99927812e-01 2.63999647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.760281693 meters Centerline goodness : 0.999493 with order 1 Centerline is valid? [True, True] Translation: X:220.64, Y:62.07, Z:2.64 [[ 8.42787472e-01 -5.38150308e-01 -1.01746411e-02 2.20637826e+02] [ 5.38112361e-01 8.42848882e-01 -6.39125640e-03 6.20744643e+01] [ 1.20151415e-02 -8.86293392e-05 9.99927812e-01 2.64241165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.820281693 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:220.69, Y:62.10, Z:2.64 [[ 8.42115296e-01 -5.39201556e-01 -1.01740057e-02 2.20689397e+02] [ 5.39163674e-01 8.42176746e-01 -6.39226773e-03 6.21019326e+01] [ 1.20150317e-02 -1.02427873e-04 9.99927812e-01 2.64236143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.880281693 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:220.74, Y:62.13, Z:2.64 [[ 8.41495775e-01 -5.40167913e-01 -1.01728478e-02 2.20740298e+02] [ 5.40130079e-01 8.41557255e-01 -6.39411003e-03 6.21307340e+01] [ 1.20149269e-02 -1.14044482e-04 9.99927812e-01 2.64050787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.940281693 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:220.79, Y:62.16, Z:2.64 [[ 8.41537567e-01 -5.40102824e-01 -1.01716921e-02 2.20792487e+02] [ 5.40064963e-01 8.41599030e-01 -6.39594794e-03 6.21569322e+01] [ 1.20149557e-02 -1.10944041e-04 9.99927812e-01 2.64251333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.000281693 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:220.84, Y:62.18, Z:2.64 [[ 8.41842437e-01 -5.39627531e-01 -1.01705052e-02 2.20843841e+02] [ 5.39589613e-01 8.41903865e-01 -6.39783476e-03 6.21821683e+01] [ 1.20150354e-02 -1.01930127e-04 9.99927812e-01 2.64195313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.060281693 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:220.90, Y:62.21, Z:2.64 [[ 8.42967825e-01 -5.37867850e-01 -1.01697002e-02 2.20895861e+02] [ 5.37829788e-01 8.43029164e-01 -6.39911400e-03 6.22089562e+01] [ 1.20152316e-02 -7.53205022e-05 9.99927812e-01 2.63916656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.120281693 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:220.95, Y:62.24, Z:2.64 [[ 8.43893761e-01 -5.36413946e-01 -1.01685314e-02 2.20947660e+02] [ 5.36375756e-01 8.43955020e-01 -6.40097085e-03 6.22372908e+01] [ 1.20153531e-02 -5.24143311e-05 9.99927812e-01 2.64467013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18028169299998 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:221.00, Y:62.26, Z:2.64 [[ 8.45293773e-01 -5.34205073e-01 -1.01674683e-02 2.20998332e+02] [ 5.34166703e-01 8.45354919e-01 -6.40265907e-03 6.22629759e+01] [ 1.20154523e-02 -1.89951525e-05 9.99927812e-01 2.64467007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.240281693 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:221.05, Y:62.29, Z:2.64 [[ 8.48593015e-01 -5.28948514e-01 -1.01668198e-02 2.21048535e+02] [ 5.28909753e-01 8.48653914e-01 -6.40368861e-03 6.22914391e+01] [ 1.20153330e-02 5.67952880e-05 9.99927812e-01 2.64431571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.300281693 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:221.10, Y:62.32, Z:2.65 [[ 8.53512917e-01 -5.20972514e-01 -1.01656255e-02 2.21097056e+02] [ 5.20933161e-01 8.53573436e-01 -6.40558399e-03 6.23236746e+01] [ 1.20142410e-02 1.71637271e-04 9.99927812e-01 2.65098676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.360281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:221.14, Y:62.36, Z:2.65 [[ 8.55680274e-01 -5.17405002e-01 -1.01652389e-02 2.21142874e+02] [ 5.17365390e-01 8.55740623e-01 -6.40619735e-03 6.23573366e+01] [ 1.20134064e-02 2.22513912e-04 9.99927812e-01 2.65066169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.420281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:221.19, Y:62.39, Z:2.65 [[ 8.56756021e-01 -5.15621761e-01 -1.01647072e-02 2.21190052e+02] [ 5.15582012e-01 8.56816280e-01 -6.40704097e-03 6.23913592e+01] [ 1.20128963e-02 2.48530751e-04 9.99927812e-01 2.64954775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.480281693 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:221.24, Y:62.43, Z:2.65 [[ 8.56373161e-01 -5.16257409e-01 -1.01635553e-02 2.21236273e+02] [ 5.16217684e-01 8.56433436e-01 -6.40886766e-03 6.24258371e+01] [ 1.20130340e-02 2.41775282e-04 9.99927812e-01 2.65099393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.540281693 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:221.28, Y:62.46, Z:2.65 [[ 8.56545290e-01 -5.15971793e-01 -1.01624021e-02 2.21281824e+02] [ 5.15932026e-01 8.56605538e-01 -6.41069571e-03 6.24611220e+01] [ 1.20129081e-02 2.47942504e-04 9.99927812e-01 2.65169856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.600281693 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:221.33, Y:62.50, Z:2.65 [[ 8.57279239e-01 -5.14751440e-01 -1.01617676e-02 2.21327177e+02] [ 5.14711575e-01 8.57339422e-01 -6.41170132e-03 6.24977250e+01] [ 1.20125165e-02 2.66239011e-04 9.99927812e-01 2.65354403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.660281693 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:221.37, Y:62.54, Z:2.65 [[ 8.57622763e-01 -5.14178917e-01 -1.01606044e-02 2.21372135e+02] [ 5.14138991e-01 8.57682904e-01 -6.41354417e-03 6.25352957e+01] [ 1.20122859e-02 2.76438585e-04 9.99927812e-01 2.65175150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.720281693 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:221.42, Y:62.57, Z:2.65 [[ 8.55548468e-01 -5.17623035e-01 -1.01593944e-02 2.21418088e+02] [ 5.17583328e-01 8.55608755e-01 -6.41546024e-03 6.25699261e+01] [ 1.20132568e-02 2.30404013e-04 9.99927812e-01 2.65169776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.780281693 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:221.47, Y:62.60, Z:2.65 [[ 8.53408846e-01 -5.21143108e-01 -1.01588692e-02 2.21465677e+02] [ 5.21103640e-01 8.53469289e-01 -6.41629185e-03 6.26039736e+01] [ 1.20140891e-02 1.81896508e-04 9.99927812e-01 2.65418157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.840281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:221.51, Y:62.64, Z:2.66 [[ 8.50507908e-01 -5.25864165e-01 -1.01577103e-02 2.21513077e+02] [ 5.25825010e-01 8.50568555e-01 -6.41812593e-03 6.26365204e+01] [ 1.20148914e-02 1.17488727e-04 9.99927812e-01 2.65923169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90028169299998 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:221.56, Y:62.67, Z:2.66 [[ 8.46120644e-01 -5.32894632e-01 -1.01571088e-02 2.21563053e+02] [ 5.32855970e-01 8.46181606e-01 -6.41907769e-03 6.26665642e+01] [ 1.20154507e-02 1.90380673e-05 9.99927812e-01 2.65691362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96028169299998 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:221.61, Y:62.69, Z:2.66 [[ 8.43522107e-01 -5.36998429e-01 -1.01559035e-02 2.21613634e+02] [ 5.36960040e-01 8.43583242e-01 -6.42098406e-03 6.26943704e+01] [ 1.20154084e-02 -3.70723645e-05 9.99927812e-01 2.65523847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.020281693 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:221.66, Y:62.72, Z:2.66 [[ 8.43304232e-01 -5.37340539e-01 -1.01546942e-02 2.21664717e+02] [ 5.37302152e-01 8.43365368e-01 -6.42289613e-03 6.27200099e+01] [ 1.20153998e-02 -3.96835359e-05 9.99927812e-01 2.65685841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.080281693 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:221.72, Y:62.75, Z:2.66 [[ 8.46637868e-01 -5.32072566e-01 -1.01540489e-02 2.21715084e+02] [ 5.32033786e-01 8.46698756e-01 -6.42391601e-03 6.27488939e+01] [ 1.20154101e-02 3.64334610e-05 9.99927812e-01 2.65620945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.140281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:221.76, Y:62.78, Z:2.66 [[ 8.50466131e-01 -5.25931820e-01 -1.01528616e-02 2.21764786e+02] [ 5.25892579e-01 8.50526722e-01 -6.42579200e-03 6.27794733e+01] [ 1.20148086e-02 1.25603891e-04 9.99927812e-01 2.66288329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.200281693 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:221.81, Y:62.81, Z:2.66 [[ 8.51091466e-01 -5.24919287e-01 -1.01517957e-02 2.21812592e+02] [ 5.24879954e-01 8.51151997e-01 -6.42747558e-03 6.28096916e+01] [ 1.20146271e-02 1.41895569e-04 9.99927812e-01 2.66361196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.260281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:221.86, Y:62.84, Z:2.67 [[ 8.50259293e-01 -5.26266174e-01 -1.01512711e-02 2.21862210e+02] [ 5.26226927e-01 8.50319880e-01 -6.42830388e-03 6.28400340e+01] [ 1.20148266e-02 1.23852898e-04 9.99927812e-01 2.66624589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.320281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:221.91, Y:62.87, Z:2.67 [[ 8.51101220e-01 -5.24903504e-01 -1.01501000e-02 2.21911768e+02] [ 5.24864137e-01 8.51161730e-01 -6.43015253e-03 6.28708146e+01] [ 1.20145863e-02 1.45287180e-04 9.99927812e-01 2.66847539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.380281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:221.96, Y:62.91, Z:2.67 [[ 8.52833233e-01 -5.22084741e-01 -1.01489219e-02 2.21957359e+02] [ 5.22045152e-01 8.52893597e-01 -6.43201140e-03 6.29077469e+01] [ 1.20140055e-02 1.87237574e-04 9.99927812e-01 2.66579697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.440281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:222.00, Y:62.94, Z:2.67 [[ 8.53656372e-01 -5.20737767e-01 -1.01477088e-02 2.22002197e+02] [ 5.20698061e-01 8.53716659e-01 -6.43392481e-03 6.29426611e+01] [ 1.20136557e-02 2.08468630e-04 9.99927812e-01 2.66779093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.500281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:222.05, Y:62.98, Z:2.67 [[ 8.51512586e-01 -5.24235974e-01 -1.01468882e-02 2.22047000e+02] [ 5.24196500e-01 8.51573025e-01 -6.43521864e-03 6.29778553e+01] [ 1.20143894e-02 1.60706377e-04 9.99927812e-01 2.67117618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.560281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:222.09, Y:63.01, Z:2.67 [[ 8.46545493e-01 -5.32219672e-01 -1.01463715e-02 2.22093769e+02] [ 5.32180758e-01 8.46606295e-01 -6.43603321e-03 6.30121734e+01] [ 1.20153655e-02 4.86912233e-05 9.99927812e-01 2.66695864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.620281693 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:222.14, Y:63.05, Z:2.67 [[ 8.42949855e-01 -5.37896474e-01 -1.01452053e-02 2.22141276e+02] [ 5.37857947e-01 8.43010903e-01 -6.43787109e-03 6.30455310e+01] [ 1.20154268e-02 -2.98767777e-05 9.99927812e-01 2.66541455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68028169299998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:222.19, Y:63.08, Z:2.67 [[ 8.41604360e-01 -5.39999260e-01 -1.01439885e-02 2.22189828e+02] [ 5.39960863e-01 8.41665489e-01 -6.43978771e-03 6.30753280e+01] [ 1.20153257e-02 -5.76033827e-05 9.99927812e-01 2.66597175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.740281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:222.24, Y:63.10, Z:2.66 [[ 8.40409995e-01 -5.41856214e-01 -1.01431672e-02 2.22240392e+02] [ 5.41817936e-01 8.40471199e-01 -6.44108107e-03 6.31037985e+01] [ 1.20151797e-02 -8.26010117e-05 9.99927812e-01 2.66455454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.800281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:222.29, Y:63.13, Z:2.67 [[ 8.38593938e-01 -5.44662599e-01 -1.01419791e-02 2.22290950e+02] [ 5.44624504e-01 8.38655256e-01 -6.44295131e-03 6.31323140e+01] [ 1.20148587e-02 -1.20550418e-04 9.99927812e-01 2.66905805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.860281693 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:222.34, Y:63.16, Z:2.67 [[ 8.37506039e-01 -5.46333950e-01 -1.01414635e-02 2.22339904e+02] [ 5.46295967e-01 8.37567427e-01 -6.44376279e-03 6.31613584e+01] [ 1.20146059e-02 -1.43550347e-04 9.99927812e-01 2.67120348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.920281693 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:222.39, Y:63.19, Z:2.67 [[ 8.37195703e-01 -5.46809399e-01 -1.01408221e-02 2.22389714e+02] [ 5.46771439e-01 8.37257104e-01 -6.44477198e-03 6.31907337e+01] [ 1.20145373e-02 -1.49176498e-04 9.99927812e-01 2.66863442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.980281693 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:222.44, Y:63.22, Z:2.67 [[ 8.37614427e-01 -5.46167794e-01 -1.01396013e-02 2.22436787e+02] [ 5.46129764e-01 8.37675785e-01 -6.44669219e-03 6.32234922e+01] [ 1.20146741e-02 -1.37695654e-04 9.99927812e-01 2.66669151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.040281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:222.48, Y:63.26, Z:2.67 [[ 8.40102353e-01 -5.42333141e-01 -1.01390733e-02 2.22484345e+02] [ 5.42294820e-01 8.40163530e-01 -6.44752245e-03 6.32585669e+01] [ 1.20151847e-02 -8.17881394e-05 9.99927812e-01 2.67278250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.100281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:222.53, Y:63.29, Z:2.67 [[ 8.41166786e-01 -5.40680736e-01 -1.01380537e-02 2.22531971e+02] [ 5.40642275e-01 8.41227876e-01 -6.44912529e-03 6.32897654e+01] [ 1.20153312e-02 -5.62704115e-05 9.99927812e-01 2.67362589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.160281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:222.58, Y:63.32, Z:2.67 [[ 8.40007409e-01 -5.42480217e-01 -1.01374180e-02 2.22581816e+02] [ 5.42441875e-01 8.40068573e-01 -6.45012433e-03 6.33201018e+01] [ 1.20151911e-02 -8.08078084e-05 9.99927812e-01 2.67330955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.220281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:222.63, Y:63.35, Z:2.68 [[ 8.38244580e-01 -5.45200221e-01 -1.01362522e-02 2.22631377e+02] [ 5.45162055e-01 8.38305854e-01 -6.45195583e-03 6.33493090e+01] [ 1.20148873e-02 -1.17583090e-04 9.99927812e-01 2.67655186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.280281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:222.68, Y:63.38, Z:2.68 [[ 8.39213703e-01 -5.43707312e-01 -1.01350644e-02 2.22682172e+02] [ 5.43669015e-01 8.39274896e-01 -6.45382121e-03 6.33757675e+01] [ 1.20150949e-02 -9.39852722e-05 9.99927812e-01 2.67796163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.340281693 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:222.73, Y:63.40, Z:2.68 [[ 8.40351952e-01 -5.41946391e-01 -1.01344208e-02 2.22732037e+02] [ 5.41907953e-01 8.40413056e-01 -6.45483171e-03 6.34039854e+01] [ 1.20152723e-02 -6.75927921e-05 9.99927812e-01 2.67713885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40028169299998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:222.78, Y:63.43, Z:2.68 [[ 8.41324289e-01 -5.40435701e-01 -1.01337867e-02 2.22783142e+02] [ 5.40397142e-01 8.41385316e-01 -6.45582704e-03 6.34320948e+01] [ 1.20153787e-02 -4.48252781e-05 9.99927812e-01 2.68140569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46028169299998 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:222.83, Y:63.46, Z:2.68 [[ 8.42366970e-01 -5.38809074e-01 -1.01326281e-02 2.22832960e+02] [ 5.38770375e-01 8.42427909e-01 -6.45764505e-03 6.34614399e+01] [ 1.20154464e-02 -1.94529194e-05 9.99927812e-01 2.68098888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.520281693 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:222.88, Y:63.49, Z:2.68 [[ 8.43959808e-01 -5.36310727e-01 -1.01314786e-02 2.22884708e+02] [ 5.36271827e-01 8.44020618e-01 -6.45944798e-03 6.34888764e+01] [ 1.20154480e-02 1.82879533e-05 9.99927812e-01 2.67741175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.580281693 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:222.94, Y:63.52, Z:2.68 [[ 8.44193564e-01 -5.35942723e-01 -1.01303371e-02 2.22935627e+02] [ 5.35903775e-01 8.44254344e-01 -6.46123770e-03 6.35172566e+01] [ 1.20154344e-02 2.56494099e-05 9.99927812e-01 2.67668427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.640281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:222.99, Y:63.54, Z:2.68 [[ 8.44388415e-01 -5.35635700e-01 -1.01292056e-02 2.22987098e+02] [ 5.35596708e-01 8.44449167e-01 -6.46301104e-03 6.35439564e+01] [ 1.20154187e-02 3.21224869e-05 9.99927812e-01 2.67765862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.700281693 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:223.04, Y:63.57, Z:2.68 [[ 8.44928122e-01 -5.34783966e-01 -1.01280781e-02 2.23037792e+02] [ 5.34744892e-01 8.44988821e-01 -6.46477735e-03 6.35701941e+01] [ 1.20153721e-02 4.63341361e-05 9.99927812e-01 2.67694072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.760281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:223.09, Y:63.60, Z:2.68 [[ 8.46398020e-01 -5.32454537e-01 -1.01270740e-02 2.23088724e+02] [ 5.32415277e-01 8.46458599e-01 -6.46634999e-03 6.35989136e+01] [ 1.20151862e-02 8.12969331e-05 9.99927812e-01 2.68139160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.820281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:223.14, Y:63.63, Z:2.68 [[ 8.47984732e-01 -5.29923921e-01 -1.01258349e-02 2.23136797e+02] [ 5.29884457e-01 8.48045178e-01 -6.46828975e-03 6.36317998e+01] [ 1.20148669e-02 1.19488437e-04 9.99927812e-01 2.68291623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.880281693 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:223.19, Y:63.66, Z:2.69 [[ 8.50205431e-01 -5.26353700e-01 -1.01246089e-02 2.23185080e+02] [ 5.26313959e-01 8.50265696e-01 -6.47020822e-03 6.36641702e+01] [ 1.20142256e-02 1.72283199e-04 9.99927812e-01 2.68501631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.940281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:223.23, Y:63.70, Z:2.69 [[ 8.51423335e-01 -5.24381370e-01 -1.01233944e-02 2.23230741e+02] [ 5.24341467e-01 8.51483492e-01 -6.47210787e-03 6.36977403e+01] [ 1.20137560e-02 2.02388215e-04 9.99927812e-01 2.68671849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.000281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:223.28, Y:63.73, Z:2.69 [[ 8.51379762e-01 -5.24452123e-01 -1.01228712e-02 2.23277459e+02] [ 5.24412215e-01 8.51439916e-01 -6.47292607e-03 6.37301707e+01] [ 1.20137564e-02 2.02360949e-04 9.99927812e-01 2.68573189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.060281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:223.33, Y:63.76, Z:2.68 [[ 8.50214350e-01 -5.26339339e-01 -1.01222245e-02 2.23325731e+02] [ 5.26299553e-01 8.50274585e-01 -6.47393717e-03 6.37617537e+01] [ 1.20141581e-02 1.76912048e-04 9.99927812e-01 2.68496712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.120281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:223.38, Y:63.79, Z:2.69 [[ 8.47437588e-01 -5.30798548e-01 -1.01210502e-02 2.23375773e+02] [ 5.30759056e-01 8.47498017e-01 -6.47577255e-03 6.37912559e+01] [ 1.20149006e-02 1.15974027e-04 9.99927812e-01 2.68672994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18028169299998 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:223.42, Y:63.82, Z:2.68 [[ 8.46524784e-01 -5.32253115e-01 -1.01198426e-02 2.23424960e+02] [ 5.32213705e-01 8.46585266e-01 -6.47765908e-03 6.38203603e+01] [ 1.20150639e-02 9.75800241e-05 9.99927812e-01 2.68419522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.240281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:223.47, Y:63.85, Z:2.68 [[ 8.47083289e-01 -5.31363815e-01 -1.01191915e-02 2.23474388e+02] [ 5.31324329e-01 8.47143721e-01 -6.47867603e-03 6.38504923e+01] [ 1.20149436e-02 1.11405552e-04 9.99927812e-01 2.68237410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.300281693 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:223.52, Y:63.88, Z:2.69 [[ 8.49706932e-01 -5.27158188e-01 -1.01180324e-02 2.23522232e+02] [ 5.27118382e-01 8.49767153e-01 -6.48048579e-03 6.38810499e+01] [ 1.20142127e-02 1.73112835e-04 9.99927812e-01 2.68502128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.360281693 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:223.57, Y:63.91, Z:2.69 [[ 8.51508818e-01 -5.24242664e-01 -1.01173928e-02 2.23571196e+02] [ 5.24202640e-01 8.51568895e-01 -6.48148416e-03 6.39115866e+01] [ 1.20135275e-02 2.15476893e-04 9.99927812e-01 2.68672682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.420281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:223.62, Y:63.94, Z:2.69 [[ 8.52494829e-01 -5.22637761e-01 -1.01161976e-02 2.23618995e+02] [ 5.22597602e-01 8.52554815e-01 -6.48334905e-03 6.39424071e+01] [ 1.20130560e-02 2.40320916e-04 9.99927812e-01 2.68652020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.480281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:223.67, Y:63.98, Z:2.69 [[ 8.53945359e-01 -5.20264355e-01 -1.01155520e-02 2.23666953e+02] [ 5.20224017e-01 8.54005226e-01 -6.48435619e-03 6.39756384e+01] [ 1.20123137e-02 2.74932776e-04 9.99927812e-01 2.68827878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.540281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:223.72, Y:64.01, Z:2.69 [[ 8.54939664e-01 -5.18628835e-01 -1.01144439e-02 2.23715161e+02] [ 5.18588362e-01 8.54999439e-01 -6.48608415e-03 6.40076988e+01] [ 1.20117142e-02 2.99977688e-04 9.99927812e-01 2.69113069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.600281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:223.76, Y:64.04, Z:2.69 [[ 8.55978284e-01 -5.16912854e-01 -1.01133370e-02 2.23760797e+02] [ 5.16872240e-01 8.56037964e-01 -6.48780973e-03 6.40437155e+01] [ 1.20110326e-02 3.26121107e-04 9.99927812e-01 2.69422758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.660281693 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:223.81, Y:64.08, Z:2.69 [[ 8.55861367e-01 -5.17106435e-01 -1.01121166e-02 2.23807048e+02] [ 5.17065813e-01 8.55921041e-01 -6.48971130e-03 6.40772257e+01] [ 1.20110448e-02 3.25663404e-04 9.99927812e-01 2.68830373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.720281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:223.85, Y:64.11, Z:2.69 [[ 8.55164413e-01 -5.18258226e-01 -1.01112909e-02 2.23854309e+02] [ 5.18217669e-01 8.55224131e-01 -6.49099749e-03 6.41114105e+01] [ 1.20114328e-02 3.11020449e-04 9.99927812e-01 2.68777068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.780281693 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:223.90, Y:64.15, Z:2.69 [[ 8.54517449e-01 -5.19324287e-01 -1.01100927e-02 2.23900063e+02] [ 5.19283783e-01 8.54577203e-01 -6.49286319e-03 6.41457283e+01] [ 1.20117563e-02 2.98257692e-04 9.99927812e-01 2.69297776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.840281693 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:223.95, Y:64.18, Z:2.69 [[ 8.56872202e-01 -5.15429755e-01 -1.01092810e-02 2.23945698e+02] [ 5.15388964e-01 8.56931760e-01 -6.49412679e-03 6.41826702e+01] [ 1.20102301e-02 3.54424865e-04 9.99927812e-01 2.69309966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90028169299998 meters Centerline goodness : 0.999578 with order 1 Centerline is valid? [True, True] Translation: X:223.99, Y:64.23, Z:2.69 [[ 8.62077438e-01 -5.06675751e-01 -1.01081193e-02 2.23987245e+02] [ 5.06634334e-01 8.62136564e-01 -6.49593450e-03 6.42250817e+01] [ 1.20059117e-02 4.78878290e-04 9.99927812e-01 2.69244673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96028169299998 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:224.03, Y:64.26, Z:2.70 [[ 8.63288344e-01 -5.04609834e-01 -1.01069633e-02 2.24031559e+02] [ 5.04568255e-01 8.63347355e-01 -6.49773250e-03 6.42625751e+01] [ 1.20046398e-02 5.09763877e-04 9.99927812e-01 2.69707406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.020281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:224.08, Y:64.30, Z:2.70 [[ 8.59229071e-01 -5.11491227e-01 -1.01058180e-02 2.24077680e+02] [ 5.11450100e-01 8.59288398e-01 -6.49951339e-03 6.43002676e+01] [ 1.20082562e-02 4.15949235e-04 9.99927812e-01 2.70433894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.080281693 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:224.13, Y:64.33, Z:2.70 [[ 8.50565635e-01 -5.25771807e-01 -1.01048256e-02 2.24127312e+02] [ 5.25731658e-01 8.50625628e-01 -6.50105587e-03 6.43325788e+01] [ 1.20134955e-02 2.17147987e-04 9.99927812e-01 2.69586499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.140281693 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:224.18, Y:64.36, Z:2.69 [[ 8.44860043e-01 -5.34891970e-01 -1.01038267e-02 2.24176985e+02] [ 5.34852451e-01 8.44920453e-01 -6.50260793e-03 6.43604232e+01] [ 1.20151226e-02 8.97371263e-05 9.99927812e-01 2.69423958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.200281693 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:224.23, Y:64.39, Z:2.70 [[ 8.40470139e-01 -5.41763665e-01 -1.01032891e-02 2.24228729e+02] [ 5.41724629e-01 8.40530863e-01 -6.50344319e-03 6.43868546e+01] [ 1.20154555e-02 -7.25072998e-06 9.99927812e-01 2.69809334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.260281693 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:224.28, Y:64.42, Z:2.70 [[ 8.40278660e-01 -5.42060624e-01 -1.01021133e-02 2.24279262e+02] [ 5.42021588e-01 8.40339384e-01 -6.50526910e-03 6.44157072e+01] [ 1.20154539e-02 -9.32467856e-06 9.99927812e-01 2.69959797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.320281693 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:224.33, Y:64.44, Z:2.70 [[ 8.40967012e-01 -5.40992105e-01 -1.01008907e-02 2.24330127e+02] [ 5.40952969e-01 8.41027671e-01 -6.50716685e-03 6.44416275e+01] [ 1.20154545e-02 8.20584483e-06 9.99927812e-01 2.70086669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.380281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:224.38, Y:64.47, Z:2.70 [[ 8.41311639e-01 -5.40456022e-01 -1.01002345e-02 2.24380833e+02] [ 5.40416835e-01 8.41372265e-01 -6.50818532e-03 6.44684992e+01] [ 1.20154451e-02 1.70753155e-05 9.99927812e-01 2.69995738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.440281693 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:224.43, Y:64.50, Z:2.70 [[ 8.41642737e-01 -5.39940276e-01 -1.00995982e-02 2.24431412e+02] [ 5.39901040e-01 8.41703331e-01 -6.50917248e-03 6.44955829e+01] [ 1.20154299e-02 2.56141585e-05 9.99927812e-01 2.70183711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.500281693 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:224.48, Y:64.52, Z:2.70 [[ 8.41318184e-01 -5.40445857e-01 -1.00989808e-02 2.24481402e+02] [ 5.40406646e-01 8.41378794e-01 -6.51013023e-03 6.45236165e+01] [ 1.20154412e-02 1.95345797e-05 9.99927812e-01 2.70311232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.560281693 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:224.53, Y:64.55, Z:2.70 [[ 8.40475840e-01 -5.41754920e-01 -1.00979720e-02 2.24530920e+02] [ 5.41715785e-01 8.40536499e-01 -6.51169472e-03 6.45529184e+01] [ 1.20154567e-02 2.69127659e-06 9.99927812e-01 2.70367935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.620281693 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:224.58, Y:64.58, Z:2.70 [[ 8.39486078e-01 -5.43287381e-01 -1.00968083e-02 2.24582810e+02] [ 5.43248335e-01 8.39546795e-01 -6.51349858e-03 6.45799549e+01] [ 1.20154446e-02 -1.70829163e-05 9.99927812e-01 2.70078180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68028169299998 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:224.63, Y:64.61, Z:2.71 [[ 8.40136314e-01 -5.42281339e-01 -1.00956553e-02 2.24632371e+02] [ 5.42242199e-01 8.40196970e-01 -6.51528519e-03 6.46082866e+01] [ 1.20154566e-02 -5.62640327e-07 9.99927812e-01 2.70721877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.740281693 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:224.68, Y:64.64, Z:2.71 [[ 8.39949221e-01 -5.42571097e-01 -1.00950695e-02 2.24680565e+02] [ 5.42531966e-01 8.40009884e-01 -6.51619273e-03 6.46380690e+01] [ 1.20154560e-02 -3.62689000e-06 9.99927812e-01 2.71435152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.800281693 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:224.73, Y:64.67, Z:2.71 [[ 8.38080982e-01 -5.45452449e-01 -1.00942014e-02 2.24730651e+02] [ 5.45413511e-01 8.38141768e-01 -6.51753728e-03 6.46679149e+01] [ 1.20153784e-02 -4.32897538e-05 9.99927812e-01 2.71385353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.860281693 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:224.78, Y:64.70, Z:2.71 [[ 8.35149918e-01 -5.49929762e-01 -1.00930808e-02 2.24782654e+02] [ 5.49891129e-01 8.35210899e-01 -6.51927213e-03 6.46958728e+01] [ 1.20149929e-02 -1.05526006e-04 9.99927812e-01 2.70936000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.920281693 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:224.83, Y:64.73, Z:2.72 [[ 8.35438706e-01 -5.49490962e-01 -1.00921113e-02 2.24831136e+02] [ 5.49452279e-01 8.35499654e-01 -6.52077267e-03 6.47262686e+01] [ 1.20150611e-02 -9.74276434e-05 9.99927812e-01 2.71545269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.980281693 meters Centerline goodness : 0.999514 with order 1 Centerline is valid? [True, True] Translation: X:224.88, Y:64.76, Z:2.71 [[ 8.37057498e-01 -5.47021859e-01 -1.00911857e-02 2.24880463e+02] [ 5.46982978e-01 8.37118321e-01 -6.52220469e-03 6.47571271e+01] [ 1.20153050e-02 -6.02464702e-05 9.99927812e-01 2.71422962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.040281693 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:224.93, Y:64.79, Z:2.71 [[ 8.39295493e-01 -5.43581885e-01 -1.00900943e-02 2.24930331e+02] [ 5.43542735e-01 8.39356143e-01 -6.52389269e-03 6.47870083e+01] [ 1.20154525e-02 -8.92372362e-06 9.99927812e-01 2.71196886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.100281693 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:224.98, Y:64.82, Z:2.71 [[ 8.41060207e-01 -5.40847428e-01 -1.00890000e-02 2.24980970e+02] [ 5.40808060e-01 8.41120716e-01 -6.52558455e-03 6.48161606e+01] [ 1.20154125e-02 3.21969811e-05 9.99927812e-01 2.71197501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.160281693 meters Centerline goodness : 0.999514 with order 1 Centerline is valid? [True, True] Translation: X:225.03, Y:64.85, Z:2.71 [[ 8.42856598e-01 -5.38043671e-01 -1.00877659e-02 2.25028217e+02] [ 5.38004079e-01 8.42916961e-01 -6.52749182e-03 6.48477619e+01] [ 1.20152246e-02 7.44803590e-05 9.99927812e-01 2.71468940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.220281693 meters Centerline goodness : 0.999449 with order 1 Centerline is valid? [True, True] Translation: X:225.07, Y:64.88, Z:2.71 [[ 8.46278808e-01 -5.32644750e-01 -1.00871034e-02 2.25074916e+02] [ 5.32604761e-01 8.46338908e-01 -6.52851534e-03 6.48830241e+01] [ 1.20144875e-02 1.52504879e-04 9.99927812e-01 2.71315038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.280281693 meters Centerline goodness : 0.999578 with order 1 Centerline is valid? [True, True] Translation: X:225.12, Y:64.92, Z:2.72 [[ 8.46418490e-01 -5.32422778e-01 -1.00859225e-02 2.25123393e+02] [ 5.32382751e-01 8.46478565e-01 -6.53033933e-03 6.49164729e+01] [ 1.20144186e-02 1.57828807e-04 9.99927812e-01 2.71818717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.340281693 meters Centerline goodness : 0.999532 with order 1 Centerline is valid? [True, True] Translation: X:225.17, Y:64.95, Z:2.72 [[ 8.44141484e-01 -5.36025606e-01 -1.00848804e-02 2.25172503e+02] [ 5.35985816e-01 8.44201717e-01 -6.53194823e-03 6.49494140e+01] [ 1.20149648e-02 1.08535633e-04 9.99927812e-01 2.71539893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40028169299998 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:225.22, Y:64.98, Z:2.72 [[ 8.43887851e-01 -5.36424842e-01 -1.00838443e-02 2.25218313e+02] [ 5.36385062e-01 8.43948090e-01 -6.53354722e-03 6.49829783e+01] [ 1.20149982e-02 1.04757647e-04 9.99927812e-01 2.71552354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46028169299998 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:225.27, Y:65.02, Z:2.72 [[ 8.44827441e-01 -5.34943851e-01 -1.00831933e-02 2.25265599e+02] [ 5.34903953e-01 8.44887602e-01 -6.53455186e-03 6.50181179e+01] [ 1.20147833e-02 1.27028782e-04 9.99927812e-01 2.71865628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.520281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:225.31, Y:65.05, Z:2.71 [[ 8.45017940e-01 -5.34642902e-01 -1.00821152e-02 2.25313429e+02] [ 5.34602963e-01 8.45078073e-01 -6.53621486e-03 6.50503799e+01] [ 1.20147153e-02 1.33290172e-04 9.99927812e-01 2.71496140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.580281693 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:225.36, Y:65.08, Z:2.72 [[ 8.44788350e-01 -5.35005612e-01 -1.00815792e-02 2.25361881e+02] [ 5.34965690e-01 8.44848494e-01 -6.53704144e-03 6.50819106e+01] [ 1.20147609e-02 1.29117495e-04 9.99927812e-01 2.71745628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.640281693 meters Centerline goodness : 0.999578 with order 1 Centerline is valid? [True, True] Translation: X:225.41, Y:65.11, Z:2.72 [[ 8.44774498e-01 -5.35027508e-01 -1.00803782e-02 2.25409640e+02] [ 5.34987564e-01 8.44834628e-01 -6.53889291e-03 6.51135508e+01] [ 1.20147401e-02 1.31012995e-04 9.99927812e-01 2.72199663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.700281693 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:225.46, Y:65.15, Z:2.72 [[ 8.45712760e-01 -5.33543177e-01 -1.00799836e-02 2.25458030e+02] [ 5.33503121e-01 8.45772815e-01 -6.53950118e-03 6.51475058e+01] [ 1.20144823e-02 1.52836907e-04 9.99927812e-01 2.72015794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.760281693 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:225.51, Y:65.18, Z:2.72 [[ 8.46299829e-01 -5.32611504e-01 -1.00789428e-02 2.25506263e+02] [ 5.32571362e-01 8.46359828e-01 -6.54110482e-03 6.51819860e+01] [ 1.20142800e-02 1.67979580e-04 9.99927812e-01 2.72232302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.820281693 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:225.55, Y:65.21, Z:2.73 [[ 8.44771577e-01 -5.35032166e-01 -1.00779102e-02 2.25554502e+02] [ 5.34992178e-01 8.44831677e-01 -6.54269540e-03 6.52133277e+01] [ 1.20146903e-02 1.35479987e-04 9.99927812e-01 2.72500427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.880281693 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:225.60, Y:65.24, Z:2.72 [[ 8.41191413e-01 -5.40643566e-01 -1.00767414e-02 2.25604775e+02] [ 5.40603957e-01 8.41251764e-01 -6.54449499e-03 6.52418958e+01] [ 1.20153156e-02 5.76466910e-05 9.99927812e-01 2.72307705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.940281693 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:225.66, Y:65.27, Z:2.72 [[ 8.40046515e-01 -5.42420811e-01 -1.00755084e-02 2.25655158e+02] [ 5.42381307e-01 8.40106935e-01 -6.54639276e-03 6.52707661e+01] [ 1.20154041e-02 3.45070231e-05 9.99927812e-01 2.72044211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.000281693 meters Centerline goodness : 0.999430 with order 1 Centerline is valid? [True, True] Translation: X:225.71, Y:65.30, Z:2.72 [[ 8.41418381e-01 -5.40290297e-01 -1.00748762e-02 2.25707603e+02] [ 5.40250628e-01 8.41478693e-01 -6.54736554e-03 6.52967451e+01] [ 1.20152717e-02 6.61155146e-05 9.99927812e-01 2.72128072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.060281693 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:225.76, Y:65.32, Z:2.72 [[ 8.45193090e-01 -5.34366131e-01 -1.00736666e-02 2.25758672e+02] [ 5.34326017e-01 8.45253107e-01 -6.54922616e-03 6.53224116e+01] [ 1.20144826e-02 1.52738563e-04 9.99927812e-01 2.72210645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.120281693 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:225.81, Y:65.35, Z:2.72 [[ 8.47522788e-01 -5.30663414e-01 -1.00730242e-02 2.25809684e+02] [ 5.30623026e-01 8.47582621e-01 -6.55021396e-03 6.53502217e+01] [ 1.20136792e-02 2.06477002e-04 9.99927812e-01 2.72377358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18028169299998 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:225.86, Y:65.38, Z:2.72 [[ 8.49032752e-01 -5.28244209e-01 -1.00718436e-02 2.25859974e+02] [ 5.28203629e-01 8.49092455e-01 -6.55202884e-03 6.53803677e+01] [ 1.20129977e-02 2.42902746e-04 9.99927812e-01 2.72085292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.240281693 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:225.91, Y:65.41, Z:2.72 [[ 8.49762305e-01 -5.27069828e-01 -1.00707713e-02 2.25909734e+02] [ 5.27029147e-01 8.49821939e-01 -6.55367662e-03 6.54124586e+01] [ 1.20126076e-02 2.61477356e-04 9.99927812e-01 2.71789613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.300281693 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:225.96, Y:65.44, Z:2.72 [[ 8.49352023e-01 -5.27730747e-01 -1.00697106e-02 2.25958892e+02] [ 5.27690093e-01 8.49411675e-01 -6.55530589e-03 6.54433269e+01] [ 1.20127662e-02 2.54075785e-04 9.99927812e-01 2.72118844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.360281693 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:226.01, Y:65.48, Z:2.72 [[ 8.48929880e-01 -5.28409580e-01 -1.00684850e-02 2.26006598e+02] [ 5.28368951e-01 8.48989549e-01 -6.55718788e-03 6.54754749e+01] [ 1.20129194e-02 2.46717876e-04 9.99927812e-01 2.72494122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.420281693 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:226.05, Y:65.51, Z:2.73 [[ 8.48329215e-01 -5.29373381e-01 -1.00681070e-02 2.26054556e+02] [ 5.29332813e-01 8.48388925e-01 -6.55776810e-03 6.55100578e+01] [ 1.20131784e-02 2.33766836e-04 9.99927812e-01 2.72835363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.480281693 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:226.10, Y:65.54, Z:2.73 [[ 8.47716631e-01 -5.30353814e-01 -1.00670480e-02 2.26101567e+02] [ 5.30313295e-01 8.47776376e-01 -6.55939350e-03 6.55447113e+01] [ 1.20134048e-02 2.21817572e-04 9.99927812e-01 2.73315487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.540281693 meters Centerline goodness : 0.999469 with order 1 Centerline is valid? [True, True] Translation: X:226.15, Y:65.58, Z:2.73 [[ 8.46912942e-01 -5.31636290e-01 -1.00659970e-02 2.26147638e+02] [ 5.31595843e-01 8.46972734e-01 -6.56100594e-03 6.55793726e+01] [ 1.20136939e-02 2.05558686e-04 9.99927812e-01 2.73387382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.600281693 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:226.19, Y:65.61, Z:2.74 [[ 8.46254881e-01 -5.32683186e-01 -1.00647749e-02 2.26193435e+02] [ 5.32642791e-01 8.46314709e-01 -6.56288010e-03 6.56140352e+01] [ 1.20139029e-02 1.92939514e-04 9.99927812e-01 2.73619888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.660281693 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:226.24, Y:65.65, Z:2.73 [[ 8.46828105e-01 -5.31771448e-01 -1.00641699e-02 2.26237910e+02] [ 5.31730977e-01 8.46887882e-01 -6.56380771e-03 6.56529265e+01] [ 1.20136691e-02 2.06985929e-04 9.99927812e-01 2.73258877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.720281693 meters Centerline goodness : 0.999619 with order 1 Centerline is valid? [True, True] Translation: X:226.28, Y:65.69, Z:2.73 [[ 8.46799257e-01 -5.31817405e-01 -1.00630831e-02 2.26282490e+02] [ 5.31776918e-01 8.46859023e-01 -6.56547356e-03 6.56911850e+01] [ 1.20136458e-02 2.08322829e-04 9.99927812e-01 2.73315576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.780281693 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:226.33, Y:65.73, Z:2.73 [[ 8.45093027e-01 -5.34524571e-01 -1.00626992e-02 2.26327990e+02] [ 5.34484269e-01 8.45152917e-01 -6.56606192e-03 6.57296981e+01] [ 1.20142410e-02 1.70578742e-04 9.99927812e-01 2.73174659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.840281693 meters Centerline goodness : 0.999471 with order 1 Centerline is valid? [True, True] Translation: X:226.37, Y:65.77, Z:2.73 [[ 8.44119105e-01 -5.36061282e-01 -1.00616720e-02 2.26374018e+02] [ 5.36021070e-01 8.44179056e-01 -6.56763549e-03 6.57658499e+01] [ 1.20145079e-02 1.50598378e-04 9.99927812e-01 2.73149614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90028169299998 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:226.42, Y:65.81, Z:2.73 [[ 8.43711677e-01 -5.36702332e-01 -1.00604682e-02 2.26416580e+02] [ 5.36662143e-01 8.43771644e-01 -6.56947904e-03 6.58078047e+01] [ 1.20145925e-02 1.43673750e-04 9.99927812e-01 2.72896150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96028169299998 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:226.46, Y:65.85, Z:2.73 [[ 8.43647718e-01 -5.36802883e-01 -1.00594087e-02 2.26458337e+02] [ 5.36762682e-01 8.43707677e-01 -6.57110105e-03 6.58475688e+01] [ 1.20145863e-02 1.44179238e-04 9.99927812e-01 2.73255990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.020281693 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:226.50, Y:65.88, Z:2.73 [[ 8.42930107e-01 -5.37929042e-01 -1.00588255e-02 2.26503696e+02] [ 5.37888910e-01 8.42990112e-01 -6.57199359e-03 6.58849257e+01] [ 1.20147567e-02 1.29200564e-04 9.99927812e-01 2.73324422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.080281693 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:226.55, Y:65.92, Z:2.73 [[ 8.39867270e-01 -5.42698639e-01 -1.00576862e-02 2.26547141e+02] [ 5.42658827e-01 8.39927487e-01 -6.57373666e-03 6.59241134e+01] [ 1.20152851e-02 6.31740391e-05 9.99927812e-01 2.73110515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.140281693 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:226.59, Y:65.96, Z:2.73 [[ 8.37996180e-01 -5.45583421e-01 -1.00565157e-02 2.26591543e+02] [ 5.45543795e-01 8.38056520e-01 -6.57552693e-03 6.59604472e+01] [ 1.20154270e-02 2.39967257e-05 9.99927812e-01 2.73491138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.200281693 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:226.64, Y:66.00, Z:2.74 [[ 8.37295964e-01 -5.46657431e-01 -1.00559400e-02 2.26635566e+02] [ 5.46617872e-01 8.37356348e-01 -6.57640712e-03 6.60008931e+01] [ 1.20154470e-02 9.64260140e-06 9.99927812e-01 2.73834628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.260281693 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:226.68, Y:66.04, Z:2.74 [[ 8.36274728e-01 -5.48218459e-01 -1.00548914e-02 2.26679905e+02] [ 5.48178994e-01 8.36335172e-01 -6.57801007e-03 6.60380928e+01] [ 1.20154458e-02 -1.08566487e-05 9.99927812e-01 2.74227674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.320281693 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:226.73, Y:66.07, Z:2.74 [[ 8.34908350e-01 -5.50297151e-01 -1.00545205e-02 2.26726755e+02] [ 5.50257829e-01 8.34968888e-01 -6.57857688e-03 6.60730698e+01] [ 1.20153839e-02 -4.00698551e-05 9.99927812e-01 2.74085544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.380281693 meters Centerline goodness : 0.999470 with order 1 Centerline is valid? [True, True] Translation: X:226.77, Y:66.11, Z:2.74 [[ 8.34450937e-01 -5.50990530e-01 -1.00533525e-02 2.26774337e+02] [ 5.50951237e-01 8.34511494e-01 -6.58036136e-03 6.61081492e+01] [ 1.20153550e-02 -4.79182864e-05 9.99927812e-01 2.73943618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.440281693 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:226.82, Y:66.15, Z:2.74 [[ 8.36834278e-01 -5.47363993e-01 -1.00524058e-02 2.26818053e+02] [ 5.47324420e-01 8.36894652e-01 -6.58180723e-03 6.61450999e+01] [ 1.20154489e-02 5.95472305e-06 9.99927812e-01 2.74026100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.500281693 meters Centerline goodness : 0.999406 with order 1 Centerline is valid? [True, True] Translation: X:226.86, Y:66.18, Z:2.74 [[ 8.38956192e-01 -5.44106120e-01 -1.00517562e-02 2.26863136e+02] [ 5.44066300e-01 8.39016405e-01 -6.58279915e-03 6.61821853e+01] [ 1.20153297e-02 5.38582966e-05 9.99927812e-01 2.73930164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.560281693 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:226.91, Y:66.22, Z:2.74 [[ 8.38882136e-01 -5.44220311e-01 -1.00506602e-02 2.26908855e+02] [ 5.44180479e-01 8.38942340e-01 -6.58447204e-03 6.62189636e+01] [ 1.20153278e-02 5.42228555e-05 9.99927812e-01 2.73596291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.620281693 meters Centerline goodness : 0.999493 with order 1 Centerline is valid? [True, True] Translation: X:226.95, Y:66.25, Z:2.74 [[ 8.38795557e-01 -5.44353763e-01 -1.00496183e-02 2.26953844e+02] [ 5.44313922e-01 8.38855755e-01 -6.58606193e-03 6.62544159e+01] [ 1.20153277e-02 5.42123304e-05 9.99927812e-01 2.73947442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68028169299998 meters Centerline goodness : 0.999532 with order 1 Centerline is valid? [True, True] Translation: X:227.00, Y:66.29, Z:2.74 [[ 8.40256335e-01 -5.42096215e-01 -1.00491036e-02 2.26996681e+02] [ 5.42056204e-01 8.40316420e-01 -6.58684715e-03 6.62942313e+01] [ 1.20151317e-02 8.74610944e-05 9.99927812e-01 2.73681051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.740281693 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:227.04, Y:66.34, Z:2.73 [[ 8.42650336e-01 -5.38367395e-01 -1.00478728e-02 2.27038591e+02] [ 5.38327095e-01 8.42710228e-01 -6.58872422e-03 6.63377717e+01] [ 1.20145994e-02 1.42948527e-04 9.99927812e-01 2.73160744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.800281693 meters Centerline goodness : 0.999385 with order 1 Centerline is valid? [True, True] Translation: X:227.08, Y:66.38, Z:2.73 [[ 8.41304978e-01 -5.40467386e-01 -1.00468029e-02 2.27082849e+02] [ 5.40427216e-01 8.41364958e-01 -6.59035521e-03 6.63758712e+01] [ 1.20148999e-02 1.14932940e-04 9.99927812e-01 2.73139343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.860281693 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:227.13, Y:66.41, Z:2.73 [[ 8.36568740e-01 -5.47769857e-01 -1.00462336e-02 2.27126209e+02] [ 5.47730200e-01 8.36629060e-01 -6.59122292e-03 6.64144506e+01] [ 1.20154442e-02 1.13855189e-05 9.99927812e-01 2.72522580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.920281693 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:227.17, Y:66.45, Z:2.73 [[ 8.33161015e-01 -5.52939242e-01 -1.00458051e-02 2.27170236e+02] [ 5.52899951e-01 8.33221574e-01 -6.59187588e-03 6.64528186e+01] [ 1.20152884e-02 -6.22311715e-05 9.99927812e-01 2.72631040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.980281693 meters Centerline goodness : 0.999367 with order 1 Centerline is valid? [True, True] Translation: X:227.22, Y:66.49, Z:2.73 [[ 8.32064371e-01 -5.54588123e-01 -1.00447111e-02 2.27215929e+02] [ 5.54548933e-01 8.32124994e-01 -6.59354248e-03 6.64887879e+01] [ 1.20151556e-02 -8.40320701e-05 9.99927812e-01 2.72666949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.040281693 meters Centerline goodness : 0.999346 with order 1 Centerline is valid? [True, True] Translation: X:227.26, Y:66.52, Z:2.73 [[ 8.30306615e-01 -5.57216344e-01 -1.00434834e-02 2.27262623e+02] [ 5.57177322e-01 8.30367348e-01 -6.59541206e-03 6.65225199e+01] [ 1.20148521e-02 -1.19786933e-04 9.99927812e-01 2.72574963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.100281693 meters Centerline goodness : 0.999387 with order 1 Centerline is valid? [True, True] Translation: X:227.31, Y:66.55, Z:2.72 [[ 8.28024886e-01 -5.60601395e-01 -1.00431027e-02 2.27311231e+02] [ 5.60562615e-01 8.28085773e-01 -6.59599167e-03 6.65546473e+01] [ 1.20142726e-02 -1.68142684e-04 9.99927812e-01 2.72319742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.160281693 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:227.36, Y:66.59, Z:2.72 [[ 8.25372266e-01 -5.64499583e-01 -1.00420167e-02 2.27360382e+02] [ 5.64461071e-01 8.25433323e-01 -6.59764473e-03 6.65858359e+01] [ 1.20133829e-02 -2.22814502e-04 9.99927812e-01 2.72350501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.220281693 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:227.41, Y:66.62, Z:2.73 [[ 8.23467831e-01 -5.67274108e-01 -1.00408142e-02 2.27408462e+02] [ 5.67235779e-01 8.23529003e-01 -6.59947419e-03 6.66160589e+01] [ 1.20126126e-02 -2.61054387e-04 9.99927812e-01 2.72668883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.280281693 meters Centerline goodness : 0.999450 with order 1 Centerline is valid? [True, True] Translation: X:227.46, Y:66.65, Z:2.73 [[ 8.25721334e-01 -5.63988893e-01 -1.00403123e-02 2.27457100e+02] [ 5.63950311e-01 8.25782347e-01 -6.60023775e-03 6.66467273e+01] [ 1.20135734e-02 -2.12280125e-04 9.99927812e-01 2.72771002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.340281693 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:227.50, Y:66.68, Z:2.73 [[ 8.29549043e-01 -5.58343623e-01 -1.00391153e-02 2.27504889e+02] [ 5.58304604e-01 8.29609777e-01 -6.60205798e-03 6.66799746e+01] [ 1.20147651e-02 -1.28153391e-04 9.99927812e-01 2.72601612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40028169299998 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:227.55, Y:66.71, Z:2.73 [[ 8.31108403e-01 -5.56019841e-01 -1.00379220e-02 2.27553843e+02] [ 5.55980630e-01 8.31169013e-01 -6.60387172e-03 6.67111575e+01] [ 1.20150934e-02 -9.23569262e-05 9.99927812e-01 2.72643087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46028169299998 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:227.60, Y:66.74, Z:2.73 [[ 8.31128352e-01 -5.55990042e-01 -1.00367305e-02 2.27601695e+02] [ 5.55950807e-01 8.31188947e-01 -6.60568211e-03 6.67414447e+01] [ 1.20151129e-02 -8.97587260e-05 9.99927812e-01 2.72557205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.520281693 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:227.65, Y:66.77, Z:2.72 [[ 8.29066385e-01 -5.59060107e-01 -1.00362127e-02 2.27652183e+02] [ 5.59021087e-01 8.29127119e-01 -6.60646875e-03 6.67724244e+01] [ 1.20147092e-02 -1.33253349e-04 9.99927812e-01 2.71982267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.580281693 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:227.70, Y:66.80, Z:2.72 [[ 8.27382616e-01 -5.61549020e-01 -1.00351265e-02 2.27700090e+02] [ 5.61510163e-01 8.27443454e-01 -6.60811830e-03 6.68024017e+01] [ 1.20142821e-02 -1.67383278e-04 9.99927812e-01 2.72335089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.640281693 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:227.75, Y:66.83, Z:2.73 [[ 8.27382353e-01 -5.61549418e-01 -1.00345906e-02 2.27748817e+02] [ 5.61510551e-01 8.27443185e-01 -6.60893196e-03 6.68329493e+01] [ 1.20142955e-02 -1.66414798e-04 9.99927812e-01 2.72605684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.700281693 meters Centerline goodness : 0.999385 with order 1 Centerline is valid? [True, True] Translation: X:227.80, Y:66.87, Z:2.73 [[ 8.28075774e-01 -5.60526399e-01 -1.00333480e-02 2.27795598e+02] [ 5.60487434e-01 8.28136543e-01 -6.61081778e-03 6.68670194e+01] [ 1.20145200e-02 -1.49307436e-04 9.99927812e-01 2.72567709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.760281693 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:227.84, Y:66.90, Z:2.72 [[ 8.29336010e-01 -5.58660117e-01 -1.00327672e-02 2.27842274e+02] [ 5.58621005e-01 8.29396683e-01 -6.61169922e-03 6.69019720e+01] [ 1.20148365e-02 -1.21194222e-04 9.99927812e-01 2.72392909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.820281693 meters Centerline goodness : 0.999338 with order 1 Centerline is valid? [True, True] Translation: X:227.89, Y:66.94, Z:2.72 [[ 8.29369815e-01 -5.58609951e-01 -1.00315458e-02 2.27888407e+02] [ 5.58570813e-01 8.29430472e-01 -6.61355176e-03 6.69358529e+01] [ 1.20148656e-02 -1.18248504e-04 9.99927812e-01 2.72458865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.880281693 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:227.93, Y:66.97, Z:2.72 [[ 8.27338504e-01 -5.61614084e-01 -1.00310177e-02 2.27934465e+02] [ 5.61575156e-01 8.27399296e-01 -6.61435264e-03 6.69706312e+01] [ 1.20143706e-02 -1.60861729e-04 9.99927812e-01 2.72301554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.940281693 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:227.98, Y:67.00, Z:2.72 [[ 8.25460984e-01 -5.64370061e-01 -1.00298276e-02 2.27980135e+02] [ 5.64331314e-01 8.25521892e-01 -6.61615684e-03 6.70041698e+01] [ 1.20138031e-02 -1.98766441e-04 9.99927812e-01 2.72106199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.000281693 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:228.03, Y:67.04, Z:2.71 [[ 8.25542424e-01 -5.64250936e-01 -1.00293133e-02 2.28027548e+02] [ 5.64212171e-01 8.25603320e-01 -6.61693632e-03 6.70384093e+01] [ 1.20138469e-02 -1.96098986e-04 9.99927812e-01 2.71396843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.060281693 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:228.08, Y:67.07, Z:2.71 [[ 8.24890867e-01 -5.65203056e-01 -1.00281105e-02 2.28076600e+02] [ 5.65164338e-01 8.24951794e-01 -6.61875871e-03 6.70692862e+01] [ 1.20136504e-02 -2.07776821e-04 9.99927812e-01 2.71469383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.120281693 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:228.13, Y:67.10, Z:2.72 [[ 8.23672420e-01 -5.66977254e-01 -1.00269126e-02 2.28128328e+02] [ 5.66938645e-01 8.23733416e-01 -6.62057301e-03 6.70970308e+01] [ 1.20132172e-02 -2.31460826e-04 9.99927812e-01 2.71519138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18028169299998 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:228.18, Y:67.13, Z:2.71 [[ 8.24921697e-01 -5.65158101e-01 -1.00257244e-02 2.28178643e+02] [ 5.65119337e-01 8.24982594e-01 -6.62237185e-03 6.71250744e+01] [ 1.20137352e-02 -2.02792477e-04 9.99927812e-01 2.71175941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.240281693 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:228.23, Y:67.16, Z:2.72 [[ 8.28813917e-01 -5.59434521e-01 -1.00253552e-02 2.28228505e+02] [ 5.59395329e-01 8.28874540e-01 -6.62293068e-03 6.71562284e+01] [ 1.20148577e-02 -1.18959740e-04 9.99927812e-01 2.71578684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.300281693 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:228.28, Y:67.19, Z:2.72 [[ 8.31240771e-01 -5.55822179e-01 -1.00242999e-02 2.28278073e+02] [ 5.55782704e-01 8.31301210e-01 -6.62452760e-03 6.71870613e+01] [ 1.20152720e-02 -6.47550628e-05 9.99927812e-01 2.71704489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.360281693 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:228.33, Y:67.22, Z:2.72 [[ 8.32012102e-01 -5.54666926e-01 -1.00230890e-02 2.28328324e+02] [ 5.54627346e-01 8.32072472e-01 -6.62635919e-03 6.72162516e+01] [ 1.20153587e-02 -4.58681914e-05 9.99927812e-01 2.71619649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.420281693 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:228.38, Y:67.24, Z:2.72 [[ 8.30244525e-01 -5.57309242e-01 -1.00218628e-02 2.28378496e+02] [ 5.57269831e-01 8.30305005e-01 -6.62821321e-03 6.72443248e+01] [ 1.20151673e-02 -8.18440459e-05 9.99927812e-01 2.71778938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.480281693 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:228.43, Y:67.27, Z:2.72 [[ 8.27859469e-01 -5.60846033e-01 -1.00213312e-02 2.28429112e+02] [ 5.60806871e-01 8.27920111e-01 -6.62901682e-03 6.72733707e+01] [ 1.20147194e-02 -1.32137043e-04 9.99927812e-01 2.71742328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.540281693 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:228.48, Y:67.30, Z:2.72 [[ 8.27563535e-01 -5.61282631e-01 -1.00201308e-02 2.28480457e+02] [ 5.61243479e-01 8.27624184e-01 -6.63083076e-03 6.73009712e+01] [ 1.20146727e-02 -1.36299333e-04 9.99927812e-01 2.71518196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.600281693 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:228.53, Y:67.33, Z:2.71 [[ 8.26809989e-01 -5.62392090e-01 -1.00189307e-02 2.28530951e+02] [ 5.62352998e-01 8.26870676e-01 -6.63264362e-03 6.73307144e+01] [ 1.20145063e-02 -1.50239708e-04 9.99927812e-01 2.71092368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.660281693 meters Centerline goodness : 0.999471 with order 1 Centerline is valid? [True, True] Translation: X:228.58, Y:67.36, Z:2.71 [[ 8.26103691e-01 -5.63429085e-01 -1.00178858e-02 2.28584071e+02] [ 5.63390049e-01 8.26164414e-01 -6.63422146e-03 6.73579158e+01] [ 1.20143341e-02 -1.63422333e-04 9.99927812e-01 2.70919200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.720281693 meters Centerline goodness : 0.999300 with order 1 Centerline is valid? [True, True] Translation: X:228.63, Y:67.39, Z:2.71 [[ 8.28468389e-01 -5.59946238e-01 -1.00169261e-02 2.28632159e+02] [ 5.59906929e-01 8.28528937e-01 -6.63567014e-03 6.73901960e+01] [ 1.20149317e-02 -1.11103384e-04 9.99927812e-01 2.70846447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.780281693 meters Centerline goodness : 0.999448 with order 1 Centerline is valid? [True, True] Translation: X:228.68, Y:67.42, Z:2.71 [[ 8.31107207e-01 -5.56022028e-01 -1.00157505e-02 2.28682540e+02] [ 5.55982413e-01 8.31167553e-01 -6.63744411e-03 6.74199168e+01] [ 1.20153320e-02 -5.21534974e-05 9.99927812e-01 2.70690484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.840281693 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:228.73, Y:67.45, Z:2.71 [[ 8.31994727e-01 -5.54693142e-01 -1.00146732e-02 2.28731744e+02] [ 5.54653410e-01 8.32054997e-01 -6.63906922e-03 6.74494049e+01] [ 1.20154050e-02 -3.10020339e-05 9.99927812e-01 2.71198906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90028169299998 meters Centerline goodness : 0.999384 with order 1 Centerline is valid? [True, True] Translation: X:228.78, Y:67.48, Z:2.72 [[ 8.32509441e-01 -5.53920343e-01 -1.00142347e-02 2.28781674e+02] [ 5.53880547e-01 8.32569669e-01 -6.63973052e-03 6.74807857e+01] [ 1.20154299e-02 -1.90514484e-05 9.99927812e-01 2.71510275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96028169299998 meters Centerline goodness : 0.999320 with order 1 Centerline is valid? [True, True] Translation: X:228.83, Y:67.51, Z:2.71 [[ 8.33178628e-01 -5.52913293e-01 -1.00132241e-02 2.28830808e+02] [ 5.52873407e-01 8.33238795e-01 -6.64125416e-03 6.75130918e+01] [ 1.20154445e-02 -2.69432150e-06 9.99927812e-01 2.71025420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02028169299996 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:228.88, Y:67.55, Z:2.70 [[ 8.34605093e-01 -5.50757745e-01 -1.00122173e-02 2.28879884e+02] [ 5.50717685e-01 8.34665145e-01 -6.64277176e-03 6.75457374e+01] [ 1.20154068e-02 3.01860279e-05 9.99927812e-01 2.70400075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08028169299996 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:228.93, Y:67.58, Z:2.71 [[ 8.37576106e-01 -5.46228928e-01 -1.00112184e-02 2.28925895e+02] [ 5.46188525e-01 8.37635929e-01 -6.64427676e-03 6.75805455e+01] [ 1.20150524e-02 9.70748362e-05 9.99927812e-01 2.70593255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14028169299996 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:228.97, Y:67.62, Z:2.71 [[ 8.41371283e-01 -5.40364842e-01 -1.00100817e-02 2.28969563e+02] [ 5.40324002e-01 8.41430808e-01 -6.64598891e-03 6.76205428e+01] [ 1.20140499e-02 1.83056829e-04 9.99927812e-01 2.71156861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20028169299997 meters Centerline goodness : 0.999400 with order 1 Centerline is valid? [True, True] Translation: X:229.01, Y:67.66, Z:2.71 [[ 8.46044826e-01 -5.33017797e-01 -1.00090375e-02 2.29011537e+02] [ 5.32976421e-01 8.46103980e-01 -6.64756108e-03 6.76634240e+01] [ 1.20119548e-02 2.89553664e-04 9.99927812e-01 2.71427992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26028169299997 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:229.06, Y:67.70, Z:2.72 [[ 8.47224158e-01 -5.31141287e-01 -1.00079514e-02 2.29055855e+02] [ 5.31099761e-01 8.47283206e-01 -6.64919590e-03 6.77036630e+01] [ 1.20112316e-02 3.18138824e-04 9.99927812e-01 2.71855518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32028169299997 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:229.10, Y:67.74, Z:2.73 [[ 8.44944756e-01 -5.34759968e-01 -1.00068267e-02 2.29098955e+02] [ 5.34718675e-01 8.45003967e-01 -6.65088811e-03 6.77434752e+01] [ 1.20124369e-02 2.68795936e-04 9.99927812e-01 2.72537158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.380281693 meters Centerline goodness : 0.999406 with order 1 Centerline is valid? [True, True] Translation: X:229.14, Y:67.78, Z:2.73 [[ 8.39082054e-01 -5.43912840e-01 -1.00064289e-02 2.29144048e+02] [ 5.43872186e-01 8.39141706e-01 -6.65148654e-03 6.77808040e+01] [ 1.20146407e-02 1.38924660e-04 9.99927812e-01 2.72586500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.440281693 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:229.19, Y:67.81, Z:2.73 [[ 8.34567119e-01 -5.50815414e-01 -1.00051709e-02 2.29192218e+02] [ 5.50775230e-01 8.34627089e-01 -6.65337819e-03 6.78137840e+01] [ 1.20153699e-02 4.20903484e-05 9.99927812e-01 2.72647104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.500281693 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:229.24, Y:67.85, Z:2.72 [[ 8.32835400e-01 -5.53430320e-01 -1.00039018e-02 2.29239119e+02] [ 5.53390302e-01 8.32895480e-01 -6.65528587e-03 6.78481251e+01] [ 1.20154416e-02 6.69542974e-06 9.99927812e-01 2.72473254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.560281693 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:229.29, Y:67.88, Z:2.72 [[ 8.31101868e-01 -5.56030228e-01 -1.00035110e-02 2.29287549e+02] [ 5.55990391e-01 8.31162069e-01 -6.65587323e-03 6.78817754e+01] [ 1.20154056e-02 -3.01473130e-05 9.99927812e-01 2.72292153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.620281693 meters Centerline goodness : 0.999341 with order 1 Centerline is valid? [True, True] Translation: X:229.33, Y:67.92, Z:2.72 [[ 8.28704510e-01 -5.59596986e-01 -1.00024355e-02 2.29333575e+02] [ 5.59557389e-01 8.28764868e-01 -6.65748914e-03 6.79150864e+01] [ 1.20151780e-02 -7.98453970e-05 9.99927812e-01 2.72353867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.680281693 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:229.39, Y:67.94, Z:2.72 [[ 8.25143097e-01 -5.64835224e-01 -1.00019001e-02 2.29385133e+02] [ 5.64796000e-01 8.25203699e-01 -6.65829331e-03 6.79440032e+01] [ 1.20144436e-02 -1.54988430e-04 9.99927812e-01 2.72029222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.740281693 meters Centerline goodness : 0.999301 with order 1 Centerline is valid? [True, True] Translation: X:229.44, Y:67.97, Z:2.72 [[ 8.22687830e-01 -5.68405417e-01 -1.00008350e-02 2.29436399e+02] [ 5.68366436e-01 8.22748589e-01 -6.65989275e-03 6.79737010e+01] [ 1.20136920e-02 -2.05126249e-04 9.99927812e-01 2.72155500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.800281693 meters Centerline goodness : 0.998912 with order 1 Centerline is valid? [True, True] Translation: X:229.49, Y:68.00, Z:2.72 [[ 8.20099539e-01 -5.72133508e-01 -9.99978144e-03 2.29489428e+02] [ 5.72094784e-01 8.20160461e-01 -6.66147430e-03 6.79959829e+01] [ 1.20126780e-02 -2.57750803e-04 9.99927812e-01 2.72280951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.860281693 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:229.54, Y:68.02, Z:2.72 [[ 8.19885513e-01 -5.72440180e-01 -9.99925998e-03 2.29543302e+02] [ 5.72401470e-01 8.19946445e-01 -6.66225696e-03 6.80190926e+01] [ 1.20126012e-02 -2.61303134e-04 9.99927812e-01 2.72330156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.920281693 meters Centerline goodness : 0.998794 with order 1 Centerline is valid? [True, True] Translation: X:229.60, Y:68.04, Z:2.72 [[ 8.23441857e-01 -5.67312565e-01 -9.99807929e-03 2.29596372e+02] [ 5.67273453e-01 8.23502532e-01 -6.66402835e-03 6.80428820e+01] [ 1.20140306e-02 -1.84205082e-04 9.99927812e-01 2.72299977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.980281693 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:229.65, Y:68.07, Z:2.73 [[ 8.29500518e-01 -5.58416459e-01 -9.99746216e-03 2.29646181e+02] [ 5.58376686e-01 8.29560760e-01 -6.66495405e-03 6.80718737e+01] [ 1.20153224e-02 -5.37669597e-05 9.99927812e-01 2.72529433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04028169299994 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:229.70, Y:68.10, Z:2.72 [[ 8.32284825e-01 -5.54258104e-01 -9.99624263e-03 2.29695261e+02] [ 5.54218008e-01 8.32344853e-01 -6.66678263e-03 6.81024970e+01] [ 1.20154394e-02 8.56433549e-06 9.99927812e-01 2.72463104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10028169299994 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:229.75, Y:68.13, Z:2.72 [[ 8.30889440e-01 -5.56347767e-01 -9.99502316e-03 2.29747717e+02] [ 5.56307799e-01 8.30949555e-01 -6.66861040e-03 6.81297167e+01] [ 1.20154265e-02 -1.94313746e-05 9.99927812e-01 2.72319041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16028169299994 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:229.80, Y:68.16, Z:2.72 [[ 8.26821534e-01 -5.62375562e-01 -9.99393920e-03 2.29799295e+02] [ 5.62336013e-01 8.26881924e-01 -6.67023448e-03 6.81556345e+01] [ 1.20149845e-02 -1.04858414e-04 9.99927812e-01 2.72362512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22028169299995 meters Centerline goodness : 0.999150 with order 1 Centerline is valid? [True, True] Translation: X:229.85, Y:68.18, Z:2.72 [[ 8.24348756e-01 -5.65994047e-01 -9.99340392e-03 2.29849752e+02] [ 5.65954753e-01 8.24409312e-01 -6.67103634e-03 6.81844921e+01] [ 1.20144221e-02 -1.56553950e-04 9.99927812e-01 2.72384433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28028169299995 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:229.90, Y:68.21, Z:2.73 [[ 8.21703167e-01 -5.69828098e-01 -9.99222068e-03 2.29904279e+02] [ 5.69789065e-01 8.21763892e-01 -6.67280818e-03 6.82074861e+01] [ 1.20135998e-02 -2.10390466e-04 9.99927812e-01 2.72595343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34028169299995 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:229.96, Y:68.24, Z:2.73 [[ 8.21115262e-01 -5.70674957e-01 -9.99099367e-03 2.29955373e+02] [ 5.70635965e-01 8.21176013e-01 -6.67464484e-03 6.82356015e+01] [ 1.20134170e-02 -2.20567574e-04 9.99927812e-01 2.72556082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40028169299995 meters Centerline goodness : 0.999300 with order 1 Centerline is valid? [True, True] Translation: X:230.01, Y:68.26, Z:2.73 [[ 8.20576746e-01 -5.71449028e-01 -9.99061672e-03 2.30007140e+02] [ 5.71410086e-01 8.20637530e-01 -6.67520902e-03 6.82627771e+01] [ 1.20132167e-02 -2.31217865e-04 9.99927812e-01 2.72826422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46028169299996 meters Centerline goodness : 0.999346 with order 1 Centerline is valid? [True, True] Translation: X:230.06, Y:68.29, Z:2.73 [[ 8.18370315e-01 -5.74604406e-01 -9.99024391e-03 2.30060718e+02] [ 5.74565691e-01 8.18431244e-01 -6.67576692e-03 6.82886594e+01] [ 1.20122528e-02 -2.76801921e-04 9.99927812e-01 2.73343848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52028169299996 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:230.12, Y:68.31, Z:2.73 [[ 8.17831455e-01 -5.75371121e-01 -9.98919687e-03 2.30115016e+02] [ 5.75332445e-01 8.17892408e-01 -6.67733329e-03 6.83137883e+01] [ 1.20120330e-02 -2.86175854e-04 9.99927812e-01 2.73189718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58028169299996 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:230.17, Y:68.33, Z:2.73 [[ 8.16715694e-01 -5.76953823e-01 -9.98811437e-03 2.30170459e+02] [ 5.76915245e-01 8.16776709e-01 -6.67895212e-03 6.83345077e+01] [ 1.20115061e-02 -3.07490432e-04 9.99927812e-01 2.72766487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64028169299996 meters Centerline goodness : 0.999408 with order 1 Centerline is valid? [True, True] Translation: X:230.23, Y:68.36, Z:2.73 [[ 8.16296240e-01 -5.77547136e-01 -9.98773179e-03 2.30226814e+02] [ 5.77508596e-01 8.16357278e-01 -6.67952419e-03 6.83552097e+01] [ 1.20112976e-02 -3.15530482e-04 9.99927812e-01 2.72975573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70028169299997 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:230.28, Y:68.37, Z:2.73 [[ 8.19341585e-01 -5.73218665e-01 -9.98650099e-03 2.30283998e+02] [ 5.73179779e-01 8.19402404e-01 -6.68136384e-03 6.83740979e+01] [ 1.20128454e-02 -2.49741193e-04 9.99927812e-01 2.73220548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76028169299997 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:230.34, Y:68.40, Z:2.73 [[ 8.24179868e-01 -5.66240075e-01 -9.98611937e-03 2.30337828e+02] [ 5.66200668e-01 8.24240351e-01 -6.68193416e-03 6.83989259e+01] [ 1.20145414e-02 -1.47031839e-04 9.99927812e-01 2.73225098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82028169299997 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:230.39, Y:68.43, Z:2.74 [[ 8.27710049e-01 -5.61067174e-01 -9.98506231e-03 2.30390920e+02] [ 5.61027369e-01 8.27770271e-01 -6.68351339e-03 6.84256806e+01] [ 1.20152377e-02 -6.98820449e-05 9.99927812e-01 2.73561729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.880281693 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:230.44, Y:68.45, Z:2.74 [[ 8.31421816e-01 -5.55552053e-01 -9.98400940e-03 2.30441639e+02] [ 5.55511830e-01 8.31481759e-01 -6.68508590e-03 6.84540996e+01] [ 1.20154349e-02 1.18909223e-05 9.99927812e-01 2.73637946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.940281693 meters Centerline goodness : 0.999387 with order 1 Centerline is valid? [True, True] Translation: X:230.49, Y:68.48, Z:2.74 [[ 8.35079883e-01 -5.50038119e-01 -9.98280822e-03 2.30491894e+02] [ 5.49997479e-01 8.35139544e-01 -6.68687913e-03 6.84841635e+01] [ 1.20150763e-02 9.35588817e-05 9.99927812e-01 2.73590528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.000281693 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:230.54, Y:68.51, Z:2.74 [[ 8.38170677e-01 -5.45316683e-01 -9.98160503e-03 2.30541631e+02] [ 5.45275685e-01 8.38230093e-01 -6.68867466e-03 6.85146290e+01] [ 1.20143276e-02 1.63524437e-04 9.99927812e-01 2.73998772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.060281693 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:230.59, Y:68.55, Z:2.74 [[ 8.38510682e-01 -5.44793745e-01 -9.98051392e-03 2.30590999e+02] [ 5.44752691e-01 8.38570060e-01 -6.69030236e-03 6.85475567e+01] [ 1.20141950e-02 1.72978179e-04 9.99927812e-01 2.73773878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.120281693 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:230.64, Y:68.58, Z:2.73 [[ 8.36401934e-01 -5.48025743e-01 -9.97948441e-03 2.30638143e+02] [ 5.47984900e-01 8.36461457e-01 -6.69183767e-03 6.85811716e+01] [ 1.20147534e-02 1.28459195e-04 9.99927812e-01 2.73322474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.180281693 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:230.69, Y:68.61, Z:2.74 [[ 8.33359062e-01 -5.52641920e-01 -9.97909287e-03 2.30686194e+02] [ 5.52601400e-01 8.33418805e-01 -6.69242150e-03 6.86146058e+01] [ 1.20152763e-02 6.27294139e-05 9.99927812e-01 2.74065495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.240281693 meters Centerline goodness : 0.999469 with order 1 Centerline is valid? [True, True] Translation: X:230.73, Y:68.65, Z:2.75 [[ 8.30404998e-01 -5.57070892e-01 -9.97799889e-03 2.30734717e+02] [ 5.57030671e-01 8.30464943e-01 -6.69405215e-03 6.86462695e+01] [ 1.20154399e-02 7.22949481e-07 9.99927812e-01 2.74538491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.300281693 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:230.78, Y:68.68, Z:2.74 [[ 8.25943144e-01 -5.63665123e-01 -9.97761185e-03 2.30781607e+02] [ 5.63625373e-01 8.26003402e-01 -6.69462900e-03 6.86812566e+01] [ 1.20150702e-02 -9.42522793e-05 9.99927812e-01 2.74274810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.360281693 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:230.83, Y:68.71, Z:2.74 [[ 8.21537041e-01 -5.70067855e-01 -9.97653607e-03 2.30829229e+02] [ 5.70028555e-01 8.21597594e-01 -6.69623178e-03 6.87121421e+01] [ 1.20140045e-02 -1.85707998e-04 9.99927812e-01 2.74387810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.420281693 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:230.88, Y:68.74, Z:2.74 [[ 8.18142276e-01 -5.74929299e-01 -9.97584333e-03 2.30879257e+02] [ 5.74890347e-01 8.18203053e-01 -6.69726363e-03 6.87436852e+01] [ 1.20127186e-02 -2.55701519e-04 9.99927812e-01 2.73817757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.480281693 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:230.93, Y:68.78, Z:2.75 [[ 8.20497878e-01 -5.71562538e-01 -9.97480345e-03 2.30926123e+02] [ 5.71523318e-01 8.20558482e-01 -6.69881206e-03 6.87771938e+01] [ 1.20136996e-02 -2.04471679e-04 9.99927812e-01 2.74513390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54028169299994 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:230.97, Y:68.81, Z:2.75 [[ 8.24528409e-01 -5.65732639e-01 -9.97420221e-03 2.30971232e+02] [ 5.65692979e-01 8.24588726e-01 -6.69970716e-03 6.88132991e+01] [ 1.20148577e-02 -1.18237280e-04 9.99927812e-01 2.74829114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60028169299994 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:231.01, Y:68.85, Z:2.75 [[ 8.33521543e-01 -5.52396939e-01 -9.97297545e-03 2.31012682e+02] [ 5.52356292e-01 8.33581200e-01 -6.70153278e-03 6.88530687e+01] [ 1.20151910e-02 7.72362048e-05 9.99927812e-01 2.74756814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66028169299994 meters Centerline goodness : 0.998942 with order 1 Centerline is valid? [True, True] Translation: X:231.06, Y:68.90, Z:2.75 [[ 8.37990918e-01 -5.45593048e-01 -9.97231394e-03 2.31055035e+02] [ 5.45551906e-01 8.38050234e-01 -6.70251701e-03 6.88956992e+01] [ 1.20141467e-02 1.76233510e-04 9.99927812e-01 2.75361302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72028169299995 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:231.10, Y:68.93, Z:2.75 [[ 8.37769837e-01 -5.45932482e-01 -9.97125255e-03 2.31099161e+02] [ 5.45891345e-01 8.37829156e-01 -6.70409564e-03 6.89338788e+01] [ 1.20141897e-02 1.73268647e-04 9.99927812e-01 2.75225072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78028169299995 meters Centerline goodness : 0.998912 with order 1 Centerline is valid? [True, True] Translation: X:231.14, Y:68.97, Z:2.75 [[ 8.36598870e-01 -5.47725231e-01 -9.97004731e-03 2.31143102e+02] [ 5.47684199e-01 8.36658263e-01 -6.70588755e-03 6.89717842e+01] [ 1.20145063e-02 1.49700578e-04 9.99927812e-01 2.75477412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84028169299995 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:231.19, Y:69.01, Z:2.75 [[ 8.35350476e-01 -5.49627334e-01 -9.96876955e-03 2.31189935e+02] [ 5.49586415e-01 8.35409946e-01 -6.70778649e-03 6.90085024e+01] [ 1.20147920e-02 1.24652315e-04 9.99927812e-01 2.75236833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90028169299995 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:231.24, Y:69.04, Z:2.76 [[ 8.34765465e-01 -5.50515452e-01 -9.96774157e-03 2.31237172e+02] [ 5.50474578e-01 8.34824966e-01 -6.70931372e-03 6.90428702e+01] [ 1.20149004e-02 1.13715056e-04 9.99927812e-01 2.75896419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96028169299996 meters Centerline goodness : 0.998879 with order 1 Centerline is valid? [True, True] Translation: X:231.28, Y:69.08, Z:2.76 [[ 8.35821740e-01 -5.48910453e-01 -9.96663097e-03 2.31281880e+02] [ 5.48869445e-01 8.35881149e-01 -6.71096311e-03 6.90811548e+01] [ 1.20146367e-02 1.38789659e-04 9.99927812e-01 2.76399910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02028169299996 meters Centerline goodness : 0.998897 with order 1 Centerline is valid? [True, True] Translation: X:231.33, Y:69.12, Z:2.76 [[ 8.36310572e-01 -5.48165409e-01 -9.96548542e-03 2.31327728e+02] [ 5.48124328e-01 8.36369931e-01 -6.71266375e-03 6.91168585e+01] [ 1.20144824e-02 1.51546661e-04 9.99927812e-01 2.76113271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08028169299996 meters Centerline goodness : 0.998640 with order 1 Centerline is valid? [True, True] Translation: X:231.37, Y:69.15, Z:2.76 [[ 8.33263100e-01 -5.52786855e-01 -9.96487664e-03 2.31374926e+02] [ 5.52746093e-01 8.33322678e-01 -6.71356737e-03 6.91514033e+01] [ 1.20151295e-02 8.61213338e-05 9.99927812e-01 2.76050532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14028169299996 meters Centerline goodness : 0.998887 with order 1 Centerline is valid? [True, True] Translation: X:231.42, Y:69.19, Z:2.76 [[ 8.29616100e-01 -5.58245334e-01 -9.96359583e-03 2.31420274e+02] [ 5.58204940e-01 8.29675929e-01 -6.71546768e-03 6.91874705e+01] [ 1.20154341e-02 9.53169517e-06 9.99927812e-01 2.76171167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20028169299997 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:231.47, Y:69.22, Z:2.76 [[ 8.27591017e-01 -5.61243138e-01 -9.96232183e-03 2.31466203e+02] [ 5.61202939e-01 8.27650976e-01 -6.71735711e-03 6.92233971e+01] [ 1.20153960e-02 -3.16598828e-05 9.99927812e-01 2.76384815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26028169299997 meters Centerline goodness : 0.998728 with order 1 Centerline is valid? [True, True] Translation: X:231.51, Y:69.26, Z:2.76 [[ 8.25043554e-01 -5.64981327e-01 -9.96165793e-03 2.31512337e+02] [ 5.64941387e-01 8.25103686e-01 -6.71834151e-03 6.92589024e+01] [ 1.20151382e-02 -8.48284953e-05 9.99927812e-01 2.76223120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32028169299997 meters Centerline goodness : 0.998765 with order 1 Centerline is valid? [True, True] Translation: X:231.56, Y:69.29, Z:2.76 [[ 8.22183660e-01 -5.69135149e-01 -9.96051238e-03 2.31560861e+02] [ 5.69095492e-01 8.22243980e-01 -6.72003946e-03 6.92922032e+01] [ 1.20145820e-02 -1.43376055e-04 9.99927812e-01 2.75879037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.380281693 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:231.61, Y:69.32, Z:2.76 [[ 8.20286783e-01 -5.71865722e-01 -9.95940815e-03 2.31609140e+02] [ 5.71826247e-01 8.20347221e-01 -6.72167558e-03 6.93240833e+01] [ 1.20140687e-02 -1.81349341e-04 9.99927812e-01 2.76110731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.440281693 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:231.66, Y:69.36, Z:2.76 [[ 8.20478953e-01 -5.71589984e-01 -9.95876566e-03 2.31657971e+02] [ 5.71550477e-01 8.20539371e-01 -6.72262735e-03 6.93556110e+01] [ 1.20141458e-02 -1.76163006e-04 9.99927812e-01 2.76237183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.500281693 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:231.71, Y:69.39, Z:2.77 [[ 8.22343603e-01 -5.68904075e-01 -9.95754325e-03 2.31708441e+02] [ 5.68864348e-01 8.22403876e-01 -6.72443750e-03 6.93852069e+01] [ 1.20146821e-02 -1.34693194e-04 9.99927812e-01 2.76680093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.560281693 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:231.76, Y:69.41, Z:2.77 [[ 8.22706324e-01 -5.68379427e-01 -9.95648008e-03 2.31758334e+02] [ 5.68339642e-01 8.22766560e-01 -6.72601130e-03 6.94145366e+01] [ 1.20147853e-02 -1.25130299e-04 9.99927812e-01 2.76609194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.620281693 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:231.81, Y:69.45, Z:2.77 [[ 8.24391209e-01 -5.65932883e-01 -9.95525426e-03 2.31807172e+02] [ 5.65892898e-01 8.24451311e-01 -6.72782517e-03 6.94453592e+01] [ 1.20151199e-02 -8.72477568e-05 9.99927812e-01 2.76836492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.680281693 meters Centerline goodness : 0.999049 with order 1 Centerline is valid? [True, True] Translation: X:231.85, Y:69.48, Z:2.77 [[ 8.28500550e-01 -5.59899774e-01 -9.95398022e-03 2.31854898e+02] [ 5.59859329e-01 8.28560343e-01 -6.72970960e-03 6.94773195e+01] [ 1.20154362e-02 2.73941768e-06 9.99927812e-01 2.77319554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.740281693 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:231.90, Y:69.51, Z:2.77 [[ 8.31526764e-01 -5.55395507e-01 -9.95342962e-03 2.31901739e+02] [ 5.55354728e-01 8.31586331e-01 -6.73052386e-03 6.95120444e+01] [ 1.20152387e-02 6.89265176e-05 9.99927812e-01 2.77265423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.800281693 meters Centerline goodness : 0.998965 with order 1 Centerline is valid? [True, True] Translation: X:231.95, Y:69.55, Z:2.77 [[ 8.32636252e-01 -5.53730825e-01 -9.95219438e-03 2.31948875e+02] [ 5.53689905e-01 8.32695722e-01 -6.73234988e-03 6.95460762e+01] [ 1.20150593e-02 9.51690107e-05 9.99927812e-01 2.77321875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.860281693 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:231.99, Y:69.58, Z:2.77 [[ 8.33510723e-01 -5.52413662e-01 -9.95096291e-03 2.31993141e+02] [ 5.52372626e-01 8.33570113e-01 -6.73416959e-03 6.95820636e+01] [ 1.20148726e-02 1.16363048e-04 9.99927812e-01 2.77262051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.920281693 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:232.04, Y:69.62, Z:2.77 [[ 8.32309796e-01 -5.54221431e-01 -9.95031608e-03 2.32037775e+02] [ 5.54180513e-01 8.32369268e-01 -6.73512521e-03 6.96202248e+01] [ 1.20150880e-02 9.14394289e-05 9.99927812e-01 2.77229002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.980281693 meters Centerline goodness : 0.999234 with order 1 Centerline is valid? [True, True] Translation: X:232.08, Y:69.66, Z:2.77 [[ 8.28388497e-01 -5.60065633e-01 -9.94910959e-03 2.32083876e+02] [ 5.60025113e-01 8.28448240e-01 -6.73690696e-03 6.96569984e+01] [ 1.20154324e-02 9.02501054e-06 9.99927812e-01 2.77073854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04028169299994 meters Centerline goodness : 0.998940 with order 1 Centerline is valid? [True, True] Translation: X:232.13, Y:69.69, Z:2.77 [[ 8.23413465e-01 -5.67354654e-01 -9.94799459e-03 2.32131246e+02] [ 5.67314643e-01 8.23473550e-01 -6.73855302e-03 6.96890129e+01] [ 1.20150598e-02 -9.50277134e-05 9.99927812e-01 2.76966102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10028169299994 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:232.18, Y:69.72, Z:2.77 [[ 8.16586964e-01 -5.77136707e-01 -9.94742162e-03 2.32180246e+02] [ 5.77097405e-01 8.16647516e-01 -6.73939872e-03 6.97193461e+01] [ 1.20130915e-02 -2.37326068e-04 9.99927812e-01 2.76850505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16028169299994 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:232.23, Y:69.75, Z:2.77 [[ 8.13368740e-01 -5.81663447e-01 -9.94617490e-03 2.32231757e+02] [ 5.81624460e-01 8.13429495e-01 -6.74123816e-03 6.97483801e+01] [ 1.20116439e-02 -3.01826225e-04 9.99927812e-01 2.77262907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22028169299995 meters Centerline goodness : 0.998890 with order 1 Centerline is valid? [True, True] Translation: X:232.28, Y:69.78, Z:2.77 [[ 8.13416200e-01 -5.81597094e-01 -9.94510136e-03 2.32283148e+02] [ 5.81558083e-01 8.13476939e-01 -6.74282154e-03 6.97766563e+01] [ 1.20117160e-02 -2.98933798e-04 9.99927812e-01 2.77223362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28028169299995 meters Centerline goodness : 0.998758 with order 1 Centerline is valid? [True, True] Translation: X:232.33, Y:69.81, Z:2.77 [[ 8.15285563e-01 -5.78973721e-01 -9.94389104e-03 2.32333051e+02] [ 5.78934492e-01 8.15346162e-01 -6.74460597e-03 6.98059986e+01] [ 1.20126630e-02 -2.58081631e-04 9.99927812e-01 2.77187555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34028169299995 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:232.38, Y:69.83, Z:2.78 [[ 8.18524081e-01 -5.74386170e-01 -9.94268228e-03 2.32383687e+02] [ 5.74346580e-01 8.18584444e-01 -6.74638741e-03 6.98333703e+01] [ 1.20139567e-02 -1.88465009e-04 9.99927812e-01 2.77998013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40028169299995 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:232.44, Y:69.86, Z:2.78 [[ 8.20974485e-01 -5.70878312e-01 -9.94223360e-03 2.32436669e+02] [ 5.70838456e-01 8.21034673e-01 -6.74704858e-03 6.98602829e+01] [ 1.20146622e-02 -1.36254540e-04 9.99927812e-01 2.78498416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46028169299996 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:232.49, Y:69.89, Z:2.79 [[ 8.23167060e-01 -5.67712220e-01 -9.94118864e-03 2.32487629e+02] [ 5.67672114e-01 8.23227081e-01 -6.74858788e-03 6.98857682e+01] [ 1.20151115e-02 -8.81203338e-05 9.99927812e-01 2.78736252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52028169299996 meters Centerline goodness : 0.999278 with order 1 Centerline is valid? [True, True] Translation: X:232.54, Y:69.91, Z:2.79 [[ 8.26122421e-01 -5.63403000e-01 -9.94011809e-03 2.32539312e+02] [ 5.63362562e-01 8.26182219e-01 -6.75016435e-03 6.99130361e+01] [ 1.20154117e-02 -2.34282819e-05 9.99927812e-01 2.78545879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58028169299996 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:232.59, Y:69.94, Z:2.79 [[ 8.27670853e-01 -5.61125813e-01 -9.93891022e-03 2.32588809e+02] [ 5.61085189e-01 8.27730525e-01 -6.75194235e-03 6.99435934e+01] [ 1.20154285e-02 1.18105636e-05 9.99927812e-01 2.78880031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64028169299996 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:232.64, Y:69.97, Z:2.79 [[ 8.28443714e-01 -5.59984157e-01 -9.93764359e-03 2.32637261e+02] [ 5.59943429e-01 8.28503315e-01 -6.75380609e-03 6.99744727e+01] [ 1.20153951e-02 3.06299704e-05 9.99927812e-01 2.78895801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70028169299997 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:232.69, Y:70.01, Z:2.79 [[ 8.27213816e-01 -5.61799397e-01 -9.93678225e-03 2.32686193e+02] [ 5.61758785e-01 8.27273496e-01 -6.75507313e-03 7.00051327e+01] [ 1.20154326e-02 5.81510183e-06 9.99927812e-01 2.78806698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76028169299997 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:232.73, Y:70.03, Z:2.78 [[ 8.24513168e-01 -5.65755529e-01 -9.93563667e-03 2.32734711e+02] [ 5.65715182e-01 8.24573029e-01 -6.75675766e-03 7.00349312e+01] [ 1.20153310e-02 -4.97048356e-05 9.99927812e-01 2.78375065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82028169299997 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:232.78, Y:70.07, Z:2.78 [[ 8.21549319e-01 -5.70050892e-01 -9.93465894e-03 2.32783566e+02] [ 5.70010840e-01 8.21609377e-01 -6.75819495e-03 7.00662974e+01] [ 1.20149240e-02 -1.10672831e-04 9.99927812e-01 2.78450286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.880281693 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:232.83, Y:70.10, Z:2.78 [[ 8.19276072e-01 -5.73313216e-01 -9.93345291e-03 2.32831396e+02] [ 5.73273382e-01 8.19336275e-01 -6.75996716e-03 7.00982561e+01] [ 1.20144168e-02 -1.56304804e-04 9.99927812e-01 2.78485365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.940281693 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:232.88, Y:70.13, Z:2.79 [[ 8.19133226e-01 -5.73517315e-01 -9.93218704e-03 2.32880072e+02] [ 5.73477473e-01 8.19193424e-01 -6.76182654e-03 7.01298735e+01] [ 1.20144069e-02 -1.57048740e-04 9.99927812e-01 2.78759443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.000281693 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:232.93, Y:70.16, Z:2.79 [[ 8.18345009e-01 -5.74641461e-01 -9.93162252e-03 2.32930552e+02] [ 5.74601692e-01 8.18405255e-01 -6.76265560e-03 7.01606360e+01] [ 1.20141944e-02 -1.72541643e-04 9.99927812e-01 2.79123920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.060281693 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:232.98, Y:70.19, Z:2.79 [[ 8.17603381e-01 -5.75696184e-01 -9.93053897e-03 2.32978078e+02] [ 5.75656473e-01 8.17663665e-01 -6.76424634e-03 7.01914735e+01] [ 1.20139917e-02 -1.86108364e-04 9.99927812e-01 2.79179259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.120281693 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:233.03, Y:70.22, Z:2.79 [[ 8.18153431e-01 -5.74914221e-01 -9.92986656e-03 2.33025814e+02] [ 5.74874441e-01 8.18213669e-01 -6.76523330e-03 7.02244867e+01] [ 1.20141814e-02 -1.73427651e-04 9.99927812e-01 2.78992078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.180281693 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:233.07, Y:70.26, Z:2.79 [[ 8.19139380e-01 -5.73508586e-01 -9.92867186e-03 2.33074189e+02] [ 5.73468682e-01 8.19199535e-01 -6.76698619e-03 7.02574637e+01] [ 1.20144881e-02 -1.50677498e-04 9.99927812e-01 2.78862320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.240281693 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:233.12, Y:70.29, Z:2.80 [[ 8.24068938e-01 -5.66402533e-01 -9.92755205e-03 2.33121100e+02] [ 5.66362090e-01 8.24128733e-01 -6.76862861e-03 7.02924437e+01] [ 1.20153493e-02 -4.47725357e-05 9.99927812e-01 2.79575431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.300281693 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:233.17, Y:70.33, Z:2.79 [[ 8.30120217e-01 -5.57496091e-01 -9.92643917e-03 2.33167086e+02] [ 5.57454987e-01 8.30179559e-01 -6.77026030e-03 7.03286106e+01] [ 1.20151205e-02 8.65869228e-05 9.99927812e-01 2.79181522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.360281693 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:233.21, Y:70.36, Z:2.80 [[ 8.33496034e-01 -5.52436285e-01 -9.92533306e-03 2.33212583e+02] [ 5.52394802e-01 8.33555112e-01 -6.77188148e-03 7.03635254e+01] [ 1.20143452e-02 1.61633965e-04 9.99927812e-01 2.79694553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.420281693 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:233.25, Y:70.40, Z:2.80 [[ 8.38892742e-01 -5.44206281e-01 -9.92427545e-03 2.33254956e+02] [ 5.44164200e-01 8.38951396e-01 -6.77343107e-03 7.04046158e+01] [ 1.20121285e-02 2.81746756e-04 9.99927812e-01 2.80076737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.480281693 meters Centerline goodness : 0.999173 with order 1 Centerline is valid? [True, True] Translation: X:233.30, Y:70.44, Z:2.80 [[ 8.42849081e-01 -5.38058510e-01 -9.92303262e-03 2.33298156e+02] [ 5.38015980e-01 8.42907410e-01 -6.77525132e-03 7.04439053e+01] [ 1.20096794e-02 3.71764228e-04 9.99927812e-01 2.79616855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54028169299994 meters Centerline goodness : 0.999151 with order 1 Centerline is valid? [True, True] Translation: X:233.34, Y:70.48, Z:2.80 [[ 8.43604620e-01 -5.36873158e-01 -9.92258184e-03 2.33341598e+02] [ 5.36830538e-01 8.43662883e-01 -6.77591144e-03 7.04833839e+01] [ 1.20091190e-02 3.89445247e-04 9.99927812e-01 2.79684786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60028169299994 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:233.38, Y:70.52, Z:2.80 [[ 8.42811505e-01 -5.38117397e-01 -9.92143938e-03 2.33384195e+02] [ 5.38074843e-01 8.42869817e-01 -6.77758385e-03 7.05238908e+01] [ 1.20096176e-02 3.73748706e-04 9.99927812e-01 2.79655761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66028169299994 meters Centerline goodness : 0.999298 with order 1 Centerline is valid? [True, True] Translation: X:233.43, Y:70.56, Z:2.80 [[ 8.40952837e-01 -5.41017483e-01 -9.92017535e-03 2.33426309e+02] [ 5.40975108e-01 8.41011279e-01 -6.77943346e-03 7.05648548e+01] [ 1.20107714e-02 3.34615864e-04 9.99927812e-01 2.80396315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72028169299995 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:233.47, Y:70.60, Z:2.80 [[ 8.38851554e-01 -5.44269849e-01 -9.91978428e-03 2.33470366e+02] [ 5.44227695e-01 8.38910155e-01 -6.78000564e-03 7.06007680e+01] [ 1.20119604e-02 2.88796935e-04 9.99927812e-01 2.80089012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78028169299995 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:233.52, Y:70.64, Z:2.80 [[ 8.37033670e-01 -5.47061463e-01 -9.91925996e-03 2.33516276e+02] [ 5.47019495e-01 8.37092404e-01 -6.78077264e-03 7.06366245e+01] [ 1.20128366e-02 2.49706435e-04 9.99927812e-01 2.80079847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84028169299995 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:233.56, Y:70.68, Z:2.80 [[ 8.37038637e-01 -5.47053885e-01 -9.91802912e-03 2.33559285e+02] [ 5.47011895e-01 8.37097356e-01 -6.78257247e-03 7.06752146e+01] [ 1.20127886e-02 2.51995309e-04 9.99927812e-01 2.80214134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90028169299995 meters Centerline goodness : 0.999344 with order 1 Centerline is valid? [True, True] Translation: X:233.60, Y:70.71, Z:2.80 [[ 8.35789851e-01 -5.48959900e-01 -9.91734391e-03 2.33604104e+02] [ 5.48918032e-01 8.35848657e-01 -6.78357423e-03 7.07124434e+01] [ 1.20133088e-02 2.25833595e-04 9.99927812e-01 2.80192499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96028169299996 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:233.65, Y:70.75, Z:2.80 [[ 8.34487609e-01 -5.50937475e-01 -9.91613419e-03 2.33649218e+02] [ 5.50895726e-01 8.34546499e-01 -6.78534212e-03 7.07484221e+01] [ 1.20137743e-02 1.99527980e-04 9.99927812e-01 2.80406325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02028169299996 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:233.70, Y:70.78, Z:2.81 [[ 8.31910901e-01 -5.54820644e-01 -9.91490591e-03 2.33695242e+02] [ 5.54779148e-01 8.31969970e-01 -6.78713644e-03 7.07814432e+01] [ 1.20145474e-02 1.45709740e-04 9.99927812e-01 2.80732897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08028169299996 meters Centerline goodness : 0.999385 with order 1 Centerline is valid? [True, True] Translation: X:233.74, Y:70.82, Z:2.81 [[ 8.31860649e-01 -5.54895998e-01 -9.91421348e-03 2.33740372e+02] [ 5.54854496e-01 8.31919713e-01 -6.78814774e-03 7.08172596e+01] [ 1.20145457e-02 1.45847061e-04 9.99927812e-01 2.80805429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14028169299996 meters Centerline goodness : 0.998997 with order 1 Centerline is valid? [True, True] Translation: X:233.79, Y:70.85, Z:2.81 [[ 8.31902622e-01 -5.54833092e-01 -9.91303230e-03 2.33788412e+02] [ 5.54791564e-01 8.31961669e-01 -6.78987223e-03 7.08503152e+01] [ 1.20145087e-02 1.48845819e-04 9.99927812e-01 2.80741715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20028169299997 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:233.84, Y:70.88, Z:2.80 [[ 8.31604974e-01 -5.55279140e-01 -9.91186301e-03 2.33838584e+02] [ 5.55237623e-01 8.31664028e-01 -6.79157873e-03 7.08816840e+01] [ 1.20145619e-02 1.44471390e-04 9.99927812e-01 2.80316482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26028169299997 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:233.89, Y:70.92, Z:2.81 [[ 8.33021495e-01 -5.53151847e-01 -9.91076588e-03 2.33885699e+02] [ 5.53110160e-01 8.33080430e-01 -6.79317937e-03 7.09158011e+01] [ 1.20141248e-02 1.77119124e-04 9.99927812e-01 2.80583979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32028169299997 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:233.93, Y:70.95, Z:2.81 [[ 8.32837738e-01 -5.53428500e-01 -9.90948809e-03 2.33932455e+02] [ 5.53386811e-01 8.32896671e-01 -6.79504283e-03 7.09484813e+01] [ 1.20141500e-02 1.75388090e-04 9.99927812e-01 2.80509440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.380281693 meters Centerline goodness : 0.998816 with order 1 Centerline is valid? [True, True] Translation: X:233.98, Y:70.98, Z:2.80 [[ 8.31369787e-01 -5.55631254e-01 -9.90894941e-03 2.33979800e+02] [ 5.55589712e-01 8.31428823e-01 -6.79582827e-03 7.09828613e+01] [ 1.20145607e-02 1.44535954e-04 9.99927812e-01 2.80451424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.440281693 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:234.03, Y:71.02, Z:2.81 [[ 8.29348981e-01 -5.58643091e-01 -9.90781190e-03 2.34027608e+02] [ 5.58601743e-01 8.29408155e-01 -6.79748627e-03 7.10161913e+01] [ 1.20149887e-02 1.02967310e-04 9.99927812e-01 2.80919861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.500281693 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:234.07, Y:71.05, Z:2.81 [[ 8.26207870e-01 -5.63278263e-01 -9.90721809e-03 2.34072809e+02] [ 5.63237238e-01 8.26267267e-01 -6.79835163e-03 7.10508494e+01] [ 1.20153737e-02 3.67374705e-05 9.99927812e-01 2.81146689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.560281693 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:234.12, Y:71.08, Z:2.81 [[ 8.24921767e-01 -5.65160101e-01 -9.90649868e-03 2.34121436e+02] [ 5.65119198e-01 8.24981248e-01 -6.79939978e-03 7.10839683e+01] [ 1.20154251e-02 1.06202894e-05 9.99927812e-01 2.80799047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.620281693 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:234.17, Y:71.12, Z:2.81 [[ 8.23791457e-01 -5.66806421e-01 -9.90539167e-03 2.34168993e+02] [ 5.66765617e-01 8.23851007e-01 -6.80101210e-03 7.11163983e+01] [ 1.20154242e-02 -1.14197574e-05 9.99927812e-01 2.81329136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.680281693 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:234.22, Y:71.15, Z:2.82 [[ 8.23142705e-01 -5.67748165e-01 -9.90500049e-03 2.34219572e+02] [ 5.67707423e-01 8.23202296e-01 -6.80158177e-03 7.11468492e+01] [ 1.20154047e-02 -2.44698894e-05 9.99927812e-01 2.81605111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.740281693 meters Centerline goodness : 0.999384 with order 1 Centerline is valid? [True, True] Translation: X:234.27, Y:71.18, Z:2.81 [[ 8.22578715e-01 -5.68565009e-01 -9.90393630e-03 2.34269438e+02] [ 5.68524308e-01 8.22638334e-01 -6.80313101e-03 7.11774505e+01] [ 1.20153799e-02 -3.45177635e-05 9.99927812e-01 2.81438538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.800281693 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:234.32, Y:71.21, Z:2.81 [[ 8.23450283e-01 -5.67302009e-01 -9.90264853e-03 2.34316980e+02] [ 5.67261193e-01 8.23509824e-01 -6.80500496e-03 7.12090879e+01] [ 1.20154213e-02 -1.38049622e-05 9.99927812e-01 2.81494537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.860281693 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:234.36, Y:71.24, Z:2.81 [[ 8.28253564e-01 -5.60265995e-01 -9.90195856e-03 2.34364181e+02] [ 5.60224661e-01 8.28312747e-01 -6.80600879e-03 7.12439390e+01] [ 1.20150938e-02 8.97796508e-05 9.99927812e-01 2.81356490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.920281693 meters Centerline goodness : 0.998789 with order 1 Centerline is valid? [True, True] Translation: X:234.41, Y:71.28, Z:2.81 [[ 8.32857957e-01 -5.53398227e-01 -9.90082066e-03 2.34407943e+02] [ 5.53356386e-01 8.32916782e-01 -6.80766372e-03 7.12821578e+01] [ 1.20139087e-02 1.91134566e-04 9.99927812e-01 2.80921615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.980281693 meters Centerline goodness : 0.998285 with order 1 Centerline is valid? [True, True] Translation: X:234.45, Y:71.32, Z:2.81 [[ 8.33523335e-01 -5.52395540e-01 -9.90041754e-03 2.34453198e+02] [ 5.52353621e-01 8.33582105e-01 -6.80824993e-03 7.13200557e+01] [ 1.20136578e-02 2.06303705e-04 9.99927812e-01 2.81227611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04028169299994 meters Centerline goodness : 0.998628 with order 1 Centerline is valid? [True, True] Translation: X:234.50, Y:71.36, Z:2.81 [[ 8.31870706e-01 -5.54881188e-01 -9.89929005e-03 2.34495193e+02] [ 5.54839425e-01 8.31929587e-01 -6.80988891e-03 7.13588196e+01] [ 1.20141915e-02 1.72430691e-04 9.99927812e-01 2.81239894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10028169299994 meters Centerline goodness : 0.998757 with order 1 Centerline is valid? [True, True] Translation: X:234.54, Y:71.40, Z:2.82 [[ 8.28698916e-01 -5.59607114e-01 -9.89873353e-03 2.34539049e+02] [ 5.59565678e-01 8.28758027e-01 -6.81069777e-03 7.13970555e+01] [ 1.20149698e-02 1.05026322e-04 9.99927812e-01 2.81532666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16028169299994 meters Centerline goodness : 0.998495 with order 1 Centerline is valid? [True, True] Translation: X:234.59, Y:71.43, Z:2.82 [[ 8.25528733e-01 -5.64273295e-01 -9.89746425e-03 2.34585818e+02] [ 5.64232170e-01 8.25588061e-01 -6.81254181e-03 7.14323488e+01] [ 1.20153637e-02 3.94812713e-05 9.99927812e-01 2.82002536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22028169299995 meters Centerline goodness : 0.998563 with order 1 Centerline is valid? [True, True] Translation: X:234.63, Y:71.47, Z:2.81 [[ 8.22793113e-01 -5.68254833e-01 -9.89636098e-03 2.34633124e+02] [ 5.68213977e-01 8.22852626e-01 -6.81414412e-03 7.14665388e+01] [ 1.20154170e-02 -1.66197816e-05 9.99927812e-01 2.81440192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28028169299995 meters Centerline goodness : 0.998786 with order 1 Centerline is valid? [True, True] Translation: X:234.68, Y:71.50, Z:2.82 [[ 8.20081345e-01 -5.72161403e-01 -9.89527078e-03 2.34681560e+02] [ 5.72120811e-01 8.20141039e-01 -6.81572690e-03 7.14991766e+01] [ 1.20152135e-02 -7.18398613e-05 9.99927812e-01 2.82006915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34028169299995 meters Centerline goodness : 0.998728 with order 1 Centerline is valid? [True, True] Translation: X:234.73, Y:71.53, Z:2.82 [[ 8.17047385e-01 -5.76485625e-01 -9.89419349e-03 2.34732549e+02] [ 5.76445330e-01 8.17107279e-01 -6.81729041e-03 7.15281750e+01] [ 1.20146875e-02 -1.33412331e-04 9.99927812e-01 2.81858859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40028169299995 meters Centerline goodness : 0.998719 with order 1 Centerline is valid? [True, True] Translation: X:234.78, Y:71.56, Z:2.82 [[ 8.15647369e-01 -5.78464775e-01 -9.89308750e-03 2.34782806e+02] [ 5.78424606e-01 8.15707348e-01 -6.81889503e-03 7.15577878e+01] [ 1.20143547e-02 -1.60591451e-04 9.99927812e-01 2.82037235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46028169299996 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:234.83, Y:71.59, Z:2.83 [[ 8.16136216e-01 -5.77774895e-01 -9.89180801e-03 2.34832318e+02] [ 5.77734652e-01 8.16196146e-01 -6.82075061e-03 7.15900941e+01] [ 1.20145140e-02 -1.48178665e-04 9.99927812e-01 2.82780009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52028169299996 meters Centerline goodness : 0.998699 with order 1 Centerline is valid? [True, True] Translation: X:234.88, Y:71.62, Z:2.82 [[ 8.17534713e-01 -5.75794379e-01 -9.89068841e-03 2.34881373e+02] [ 5.75753971e-01 8.17594532e-01 -6.82237375e-03 7.16209220e+01] [ 1.20148572e-02 -1.17075763e-04 9.99927812e-01 2.82015298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58028169299996 meters Centerline goodness : 0.998539 with order 1 Centerline is valid? [True, True] Translation: X:234.93, Y:71.65, Z:2.82 [[ 8.17700523e-01 -5.75558890e-01 -9.89029324e-03 2.34929121e+02] [ 5.75518459e-01 8.17760326e-01 -6.82294656e-03 7.16536195e+01] [ 1.20148970e-02 -1.12919354e-04 9.99927812e-01 2.81951453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64028169299996 meters Centerline goodness : 0.998440 with order 1 Centerline is valid? [True, True] Translation: X:234.98, Y:71.69, Z:2.82 [[ 8.17009913e-01 -5.76538819e-01 -9.88903381e-03 2.34978338e+02] [ 5.76498437e-01 8.17069749e-01 -6.82477147e-03 7.16850662e+01] [ 1.20147761e-02 -1.25106594e-04 9.99927812e-01 2.82009661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70028169299997 meters Centerline goodness : 0.998514 with order 1 Centerline is valid? [True, True] Translation: X:235.03, Y:71.72, Z:2.82 [[ 8.16576728e-01 -5.77152212e-01 -9.88789657e-03 2.35027882e+02] [ 5.77111856e-01 8.16636581e-01 -6.82641874e-03 7.17154484e+01] [ 1.20147007e-02 -1.32127658e-04 9.99927812e-01 2.82369704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76028169299997 meters Centerline goodness : 0.998717 with order 1 Centerline is valid? [True, True] Translation: X:235.08, Y:71.75, Z:2.83 [[ 8.16338032e-01 -5.77489787e-01 -9.88749536e-03 2.35078584e+02] [ 5.77449448e-01 8.16397898e-01 -6.82699981e-03 7.17458430e+01] [ 1.20146531e-02 -1.36389144e-04 9.99927812e-01 2.82702101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82028169299997 meters Centerline goodness : 0.998388 with order 1 Centerline is valid? [True, True] Translation: X:235.13, Y:71.77, Z:2.83 [[ 8.16121492e-01 -5.77795786e-01 -9.88637339e-03 2.35131914e+02] [ 5.77755449e-01 8.16181359e-01 -6.82862418e-03 7.17706418e+01] [ 1.20146239e-02 -1.38919150e-04 9.99927812e-01 2.82555439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.880281693 meters Centerline goodness : 0.998490 with order 1 Centerline is valid? [True, True] Translation: X:235.18, Y:71.80, Z:2.83 [[ 8.16334173e-01 -5.77495274e-01 -9.88569931e-03 2.35181153e+02] [ 5.77454904e-01 8.16394017e-01 -6.82959989e-03 7.17989781e+01] [ 1.20146874e-02 -1.33309772e-04 9.99927812e-01 2.82561991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.940281693 meters Centerline goodness : 0.998644 with order 1 Centerline is valid? [True, True] Translation: X:235.23, Y:71.83, Z:2.82 [[ 8.16194781e-01 -5.77692276e-01 -9.88502059e-03 2.35233796e+02] [ 5.77651908e-01 8.16254627e-01 -6.83058211e-03 7.18264293e+01] [ 1.20146683e-02 -1.35015537e-04 9.99927812e-01 2.82318608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.000281693 meters Centerline goodness : 0.998756 with order 1 Centerline is valid? [True, True] Translation: X:235.28, Y:71.85, Z:2.83 [[ 8.16967790e-01 -5.76598594e-01 -9.88391779e-03 2.35284211e+02] [ 5.76558127e-01 8.17027569e-01 -6.83217750e-03 7.18543399e+01] [ 1.20148573e-02 -1.16984171e-04 9.99927812e-01 2.82742472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.060281693 meters Centerline goodness : 0.998771 with order 1 Centerline is valid? [True, True] Translation: X:235.34, Y:71.88, Z:2.83 [[ 8.18204990e-01 -5.74841642e-01 -9.88334637e-03 2.35336228e+02] [ 5.74801037e-01 8.18264675e-01 -6.83300401e-03 7.18818844e+01] [ 1.20150885e-02 -9.01597633e-05 9.99927812e-01 2.82949699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.120281693 meters Centerline goodness : 0.998624 with order 1 Centerline is valid? [True, True] Translation: X:235.39, Y:71.91, Z:2.83 [[ 8.19386482e-01 -5.73156295e-01 -9.88206381e-03 2.35385875e+02] [ 5.73115544e-01 8.19446067e-01 -6.83485837e-03 7.19112521e+01] [ 1.20152604e-02 -6.31738275e-05 9.99927812e-01 2.83078055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.180281693 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:235.44, Y:71.94, Z:2.84 [[ 8.23294731e-01 -5.67528110e-01 -9.88078570e-03 2.35437341e+02] [ 5.67486930e-01 8.23354021e-01 -6.83670558e-03 7.19396457e+01] [ 1.20154072e-02 2.14069342e-05 9.99927812e-01 2.83782696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.240281693 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:235.49, Y:71.97, Z:2.84 [[ 8.27765732e-01 -5.60986885e-01 -9.87966565e-03 2.35487643e+02] [ 5.60945217e-01 8.27824680e-01 -6.83832377e-03 7.19673616e+01] [ 1.20148410e-02 1.18578885e-04 9.99927812e-01 2.83551493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.300281693 meters Centerline goodness : 0.998941 with order 1 Centerline is valid? [True, True] Translation: X:235.54, Y:72.00, Z:2.84 [[ 8.29053412e-01 -5.59082145e-01 -9.87902068e-03 2.35536660e+02] [ 5.59040331e-01 8.29112256e-01 -6.83925539e-03 7.19975315e+01] [ 1.20145227e-02 1.47337029e-04 9.99927812e-01 2.83514018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.360281693 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:235.59, Y:72.03, Z:2.83 [[ 8.31266244e-01 -5.55786694e-01 -9.87833742e-03 2.35587900e+02] [ 5.55744635e-01 8.31324914e-01 -6.84024213e-03 7.20275861e+01] [ 1.20138236e-02 1.96229361e-04 9.99927812e-01 2.83353597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.420281693 meters Centerline goodness : 0.998655 with order 1 Centerline is valid? [True, True] Translation: X:235.64, Y:72.06, Z:2.83 [[ 8.31616345e-01 -5.55262728e-01 -9.87718872e-03 2.35635408e+02] [ 5.55220611e-01 8.31674973e-01 -6.84190042e-03 7.20593766e+01] [ 1.20136630e-02 2.05817456e-04 9.99927812e-01 2.83132022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.480281693 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:235.69, Y:72.09, Z:2.83 [[ 8.29404551e-01 -5.58561142e-01 -9.87629969e-03 2.35685789e+02] [ 5.58519243e-01 8.29463336e-01 -6.84318351e-03 7.20893597e+01] [ 1.20143649e-02 1.59664123e-04 9.99927812e-01 2.83457942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54028169299994 meters Centerline goodness : 0.998797 with order 1 Centerline is valid? [True, True] Translation: X:235.73, Y:72.12, Z:2.84 [[ 8.29345398e-01 -5.58648989e-01 -9.87512715e-03 2.35734047e+02] [ 5.58607077e-01 8.29404172e-01 -6.84487513e-03 7.21227233e+01] [ 1.20143542e-02 1.60449771e-04 9.99927812e-01 2.83905724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60028169299994 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:235.78, Y:72.16, Z:2.84 [[ 8.30184442e-01 -5.57401378e-01 -9.87399575e-03 2.35780423e+02] [ 5.57359358e-01 8.30243140e-01 -6.84650684e-03 7.21566680e+01] [ 1.20140696e-02 1.80499533e-04 9.99927812e-01 2.84255067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66028169299994 meters Centerline goodness : 0.998902 with order 1 Centerline is valid? [True, True] Translation: X:235.83, Y:72.19, Z:2.84 [[ 8.30698629e-01 -5.56634805e-01 -9.87326916e-03 2.35825780e+02] [ 5.56592719e-01 8.30757279e-01 -6.84755448e-03 7.21912795e+01] [ 1.20138774e-02 1.92864393e-04 9.99927812e-01 2.84015137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72028169299995 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:235.87, Y:72.23, Z:2.84 [[ 8.30276659e-01 -5.57264031e-01 -9.87263373e-03 2.35873006e+02] [ 5.57221978e-01 8.30335333e-01 -6.84847050e-03 7.22253115e+01] [ 1.20140029e-02 1.84876704e-04 9.99927812e-01 2.83987095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78028169299995 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:235.92, Y:72.26, Z:2.84 [[ 8.28156443e-01 -5.60410083e-01 -9.87141763e-03 2.35918971e+02] [ 5.60368232e-01 8.28215262e-01 -6.85022296e-03 7.22604197e+01] [ 1.20145927e-02 1.41427439e-04 9.99927812e-01 2.84258116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84028169299995 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:235.97, Y:72.29, Z:2.84 [[ 8.25658527e-01 -5.64083838e-01 -9.87017760e-03 2.35966455e+02] [ 5.64042228e-01 8.25717515e-01 -6.85200918e-03 7.22936092e+01] [ 1.20150862e-02 9.02228409e-05 9.99927812e-01 2.84224683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90028169299995 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:236.02, Y:72.32, Z:2.84 [[ 8.22899851e-01 -5.68100730e-01 -9.86886964e-03 2.36017571e+02] [ 5.68059385e-01 8.22959026e-01 -6.85389251e-03 7.23221598e+01] [ 1.20153767e-02 3.39631086e-05 9.99927812e-01 2.84386004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96028169299996 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:236.07, Y:72.35, Z:2.84 [[ 8.21784130e-01 -5.69713503e-01 -9.86754685e-03 2.36068186e+02] [ 5.69672251e-01 8.21843370e-01 -6.85579641e-03 7.23501309e+01] [ 1.20154177e-02 1.27170640e-05 9.99927812e-01 2.84082771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02028169299996 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:236.12, Y:72.38, Z:2.84 [[ 8.25245175e-01 -5.64688462e-01 -9.86624151e-03 2.36117707e+02] [ 5.64646827e-01 8.25304146e-01 -6.85767441e-03 7.23778415e+01] [ 1.20150996e-02 8.83207610e-05 9.99927812e-01 2.84327534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08028169299996 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:236.17, Y:72.41, Z:2.84 [[ 8.28480652e-01 -5.59930781e-01 -9.86552540e-03 2.36165026e+02] [ 5.59888796e-01 8.28539374e-01 -6.85870446e-03 7.24113428e+01] [ 1.20143760e-02 1.58706806e-04 9.99927812e-01 2.84264369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14028169299996 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:236.21, Y:72.44, Z:2.84 [[ 8.31034591e-01 -5.56133262e-01 -9.86422756e-03 2.36211993e+02] [ 5.56090985e-01 8.31093105e-01 -6.86057052e-03 7.24444979e+01] [ 1.20134830e-02 2.15963399e-04 9.99927812e-01 2.84183673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20028169299997 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:236.26, Y:72.48, Z:2.84 [[ 8.30182292e-01 -5.57404769e-01 -9.86334835e-03 2.36256694e+02] [ 5.57362567e-01 8.30240859e-01 -6.86183430e-03 7.24814431e+01] [ 1.20137740e-02 1.99112168e-04 9.99927812e-01 2.84412337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26028169299997 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:236.30, Y:72.52, Z:2.84 [[ 8.28440052e-01 -5.59990910e-01 -9.86208236e-03 2.36303865e+02] [ 5.59948869e-01 8.28498735e-01 -6.86365336e-03 7.25153674e+01] [ 1.20143062e-02 1.63863479e-04 9.99927812e-01 2.84200310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32028169299997 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:236.35, Y:72.55, Z:2.85 [[ 8.26225644e-01 -5.63252991e-01 -9.86166622e-03 2.36349442e+02] [ 5.63211175e-01 8.26284487e-01 -6.86425121e-03 7.25519790e+01] [ 1.20148518e-02 1.17219755e-04 9.99927812e-01 2.85148316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.380281693 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:236.40, Y:72.58, Z:2.85 [[ 8.24428999e-01 -5.65879487e-01 -9.86056960e-03 2.36397491e+02] [ 5.65837840e-01 8.24487962e-01 -6.86582615e-03 7.25845703e+01] [ 1.20151511e-02 8.09027831e-05 9.99927812e-01 2.85270365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.440281693 meters Centerline goodness : 0.999338 with order 1 Centerline is valid? [True, True] Translation: X:236.45, Y:72.62, Z:2.85 [[ 8.23073655e-01 -5.67849058e-01 -9.85928225e-03 2.36445255e+02] [ 5.67807530e-01 8.23132701e-01 -6.86767428e-03 7.26163965e+01] [ 1.20153000e-02 5.44270716e-05 9.99927812e-01 2.85235886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.500281693 meters Centerline goodness : 0.999151 with order 1 Centerline is valid? [True, True] Translation: X:236.49, Y:72.65, Z:2.85 [[ 8.22946725e-01 -5.68033009e-01 -9.85841130e-03 2.36491372e+02] [ 5.67991479e-01 8.23005770e-01 -6.86892429e-03 7.26511776e+01] [ 1.20153051e-02 5.32651328e-05 9.99927812e-01 2.84956271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.560281693 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:236.54, Y:72.68, Z:2.85 [[ 8.21318743e-01 -5.70384395e-01 -9.85715556e-03 2.36538647e+02] [ 5.70343012e-01 8.21377892e-01 -6.87072585e-03 7.26845655e+01] [ 1.20154045e-02 2.10961284e-05 9.99927812e-01 2.84739814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.620281693 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:236.59, Y:72.72, Z:2.85 [[ 8.17190705e-01 -5.76283101e-01 -9.85585168e-03 2.36585300e+02] [ 5.76242123e-01 8.17250135e-01 -6.87259571e-03 7.27164280e+01] [ 1.20152569e-02 -6.31355628e-05 9.99927812e-01 2.84787516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.680281693 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:236.63, Y:72.75, Z:2.85 [[ 8.14245861e-01 -5.80436521e-01 -9.85514338e-03 2.36633695e+02] [ 5.80395833e-01 8.14305490e-01 -6.87361125e-03 7.27485233e+01] [ 1.20147924e-02 -1.23074640e-04 9.99927812e-01 2.84845400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.740281693 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:236.68, Y:72.78, Z:2.85 [[ 8.12439263e-01 -5.82962558e-01 -9.85389746e-03 2.36682313e+02] [ 5.82922035e-01 8.12499003e-01 -6.87539692e-03 7.27799752e+01] [ 1.20143808e-02 -1.58211543e-04 9.99927812e-01 2.85019600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.800281693 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:236.73, Y:72.81, Z:2.86 [[ 8.12363386e-01 -5.83068311e-01 -9.85266190e-03 2.36729541e+02] [ 5.83027773e-01 8.12423117e-01 -6.87716706e-03 7.28120006e+01] [ 1.20143885e-02 -1.57616816e-04 9.99927812e-01 2.85538128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.860281693 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:236.78, Y:72.84, Z:2.86 [[ 8.10933109e-01 -5.85055928e-01 -9.85155469e-03 2.36779057e+02] [ 5.85015518e-01 8.10992927e-01 -6.87875277e-03 7.28426307e+01] [ 1.20139963e-02 -1.85103993e-04 9.99927812e-01 2.85564516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.920281693 meters Centerline goodness : 0.999341 with order 1 Centerline is valid? [True, True] Translation: X:236.83, Y:72.87, Z:2.86 [[ 8.08916267e-01 -5.87841342e-01 -9.85031998e-03 2.36828583e+02] [ 5.87801116e-01 8.08976209e-01 -6.88052041e-03 7.28731188e+01] [ 1.20133289e-02 -2.24264193e-04 9.99927812e-01 2.85889433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.980281693 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:236.88, Y:72.91, Z:2.86 [[ 8.11360227e-01 -5.84463497e-01 -9.84902057e-03 2.36877457e+02] [ 5.84422999e-01 8.11419984e-01 -6.88237993e-03 7.29053100e+01] [ 1.20141920e-02 -1.71904797e-04 9.99927812e-01 2.85667562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04028169299994 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:236.92, Y:72.94, Z:2.85 [[ 8.14972345e-01 -5.79416171e-01 -9.84770134e-03 2.36923577e+02] [ 5.79375280e-01 8.15031835e-01 -6.88426705e-03 7.29396009e+01] [ 1.20150457e-02 -9.50274651e-05 9.99927812e-01 2.85313943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10028169299994 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:236.97, Y:72.97, Z:2.85 [[ 8.17052430e-01 -5.76479282e-01 -9.84701650e-03 2.36970556e+02] [ 5.76438165e-01 8.17111764e-01 -6.88524648e-03 7.29729351e+01] [ 1.20153150e-02 -5.05887582e-05 9.99927812e-01 2.85244019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16028169299994 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:237.02, Y:73.01, Z:2.85 [[ 8.18603605e-01 -5.74274498e-01 -9.84574557e-03 2.37015868e+02] [ 5.74233200e-01 8.18662813e-01 -6.88706340e-03 7.30088567e+01] [ 1.20154106e-02 -1.59790592e-05 9.99927812e-01 2.85431594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22028169299995 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:237.06, Y:73.05, Z:2.86 [[ 8.20918148e-01 -5.70961016e-01 -9.84443407e-03 2.37059336e+02] [ 5.70919456e-01 8.20977172e-01 -6.88893757e-03 7.30468755e+01] [ 1.20153704e-02 3.48749286e-05 9.99927812e-01 2.85754079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28028169299995 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:237.10, Y:73.08, Z:2.86 [[ 8.21516849e-01 -5.70099262e-01 -9.84369926e-03 2.37103581e+02] [ 5.70057628e-01 8.21575821e-01 -6.88998738e-03 7.30849796e+01] [ 1.20153220e-02 4.87648757e-05 9.99927812e-01 2.85969778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34028169299995 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:237.15, Y:73.12, Z:2.86 [[ 8.19978213e-01 -5.72310107e-01 -9.84239120e-03 2.37150812e+02] [ 5.72268609e-01 8.20037281e-01 -6.89185545e-03 7.31167854e+01] [ 1.20154062e-02 1.86797936e-05 9.99927812e-01 2.85914174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40028169299995 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:237.20, Y:73.15, Z:2.86 [[ 8.18826882e-01 -5.73956165e-01 -9.84168253e-03 2.37196926e+02] [ 5.73914774e-01 8.18886024e-01 -6.89286729e-03 7.31502051e+01] [ 1.20154200e-02 -4.22197363e-06 9.99927812e-01 2.85883702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46028169299996 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:237.24, Y:73.18, Z:2.86 [[ 8.18993520e-01 -5.73718371e-01 -9.84098464e-03 2.37243163e+02] [ 5.73676951e-01 8.19052642e-01 -6.89386353e-03 7.31848005e+01] [ 1.20154206e-02 4.83499370e-07 9.99927812e-01 2.85906981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52028169299996 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:237.29, Y:73.22, Z:2.86 [[ 8.19084782e-01 -5.73588094e-01 -9.83967799e-03 2.37290006e+02] [ 5.73546642e-01 8.19143881e-01 -6.89572801e-03 7.32194227e+01] [ 1.20154195e-02 4.67160429e-06 9.99927812e-01 2.85855771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58028169299996 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:237.34, Y:73.25, Z:2.86 [[ 8.17805727e-01 -5.75410288e-01 -9.83838134e-03 2.37338301e+02] [ 5.75368945e-01 8.17864904e-01 -6.89757750e-03 7.32507676e+01] [ 1.20154039e-02 -1.98207140e-05 9.99927812e-01 2.85758941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64028169299996 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:237.39, Y:73.28, Z:2.86 [[ 8.14402033e-01 -5.80217684e-01 -9.83706063e-03 2.37385213e+02] [ 5.80176668e-01 8.14461436e-01 -6.89946053e-03 7.32827978e+01] [ 1.20150955e-02 -8.82983763e-05 9.99927812e-01 2.85840264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70028169299997 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:237.43, Y:73.31, Z:2.86 [[ 8.13052085e-01 -5.82107853e-01 -9.83634493e-03 2.37434056e+02] [ 5.82066963e-01 8.13111575e-01 -6.90048073e-03 7.33132369e+01] [ 1.20148699e-02 -1.14961182e-04 9.99927812e-01 2.86163521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76028169299997 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:237.49, Y:73.34, Z:2.85 [[ 8.11967635e-01 -5.83619595e-01 -9.83506215e-03 2.37485916e+02] [ 5.83578793e-01 8.12027186e-01 -6.90230856e-03 7.33427599e+01] [ 1.20146604e-02 -1.35082550e-04 9.99927812e-01 2.85491824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82028169299997 meters Centerline goodness : 0.999530 with order 1 Centerline is valid? [True, True] Translation: X:237.54, Y:73.37, Z:2.85 [[ 8.11390424e-01 -5.84421821e-01 -9.83440429e-03 2.37536259e+02] [ 5.84381066e-01 8.11450007e-01 -6.90324576e-03 7.33720955e+01] [ 1.20145349e-02 -1.45812164e-04 9.99927812e-01 2.85269460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.880281693 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:237.58, Y:73.40, Z:2.86 [[ 8.11627213e-01 -5.84092943e-01 -9.83372022e-03 2.37584385e+02] [ 5.84052153e-01 8.11686771e-01 -6.90422007e-03 7.34037138e+01] [ 1.20146068e-02 -1.39752571e-04 9.99927812e-01 2.85573242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.940281693 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:237.64, Y:73.43, Z:2.86 [[ 8.12267114e-01 -5.83202747e-01 -9.83315949e-03 2.37635604e+02] [ 5.83161882e-01 8.12326622e-01 -6.90501859e-03 7.34302363e+01] [ 1.20147630e-02 -1.25604265e-04 9.99927812e-01 2.85591682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.000281693 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:237.69, Y:73.45, Z:2.86 [[ 8.12218239e-01 -5.83270831e-01 -9.83206201e-03 2.37689667e+02] [ 5.83229952e-01 8.12277737e-01 -6.90658093e-03 7.34544029e+01] [ 1.20147723e-02 -1.24702056e-04 9.99927812e-01 2.85750008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.060281693 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:237.74, Y:73.48, Z:2.87 [[ 8.13325733e-01 -5.81725543e-01 -9.83075746e-03 2.37740911e+02] [ 5.81684529e-01 8.13385138e-01 -6.90843731e-03 7.34828931e+01] [ 1.20150065e-02 -9.95896803e-05 9.99927812e-01 2.86900765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.120281693 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:237.79, Y:73.51, Z:2.87 [[ 8.18721202e-01 -5.74107109e-01 -9.82962819e-03 2.37790955e+02] [ 5.74065522e-01 8.18780207e-01 -6.91004372e-03 7.35128238e+01] [ 1.20154102e-02 1.45486558e-05 9.99927812e-01 2.87496463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.180281693 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:237.84, Y:73.55, Z:2.87 [[ 8.24010678e-01 -5.66489017e-01 -9.82834859e-03 2.37838066e+02] [ 5.66446864e-01 8.24069279e-01 -6.91186325e-03 7.35470368e+01] [ 1.20147348e-02 1.28211883e-04 9.99927812e-01 2.87233101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.240281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:237.88, Y:73.58, Z:2.87 [[ 8.25977346e-01 -5.63617649e-01 -9.82697645e-03 2.37884341e+02] [ 5.63575268e-01 8.26035784e-01 -6.91381355e-03 7.35805442e+01] [ 1.20141815e-02 1.72412475e-04 9.99927812e-01 2.86891029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.300281693 meters Centerline goodness : 0.999470 with order 1 Centerline is valid? [True, True] Translation: X:237.93, Y:73.62, Z:2.86 [[ 8.26738986e-01 -5.62499861e-01 -9.82624464e-03 2.37929907e+02] [ 5.62457389e-01 8.26797357e-01 -6.91485349e-03 7.36166625e+01] [ 1.20139172e-02 1.89935054e-04 9.99927812e-01 2.86493877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.360281693 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:237.98, Y:73.65, Z:2.87 [[ 8.23818952e-01 -5.66767856e-01 -9.82501463e-03 2.37979170e+02] [ 5.66725666e-01 8.23877527e-01 -6.91660071e-03 7.36495210e+01] [ 1.20147157e-02 1.29938785e-04 9.99927812e-01 2.86765459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.420281693 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:238.03, Y:73.68, Z:2.87 [[ 8.21789442e-01 -5.69706595e-01 -9.82387855e-03 2.38026621e+02] [ 5.69664595e-01 8.21848153e-01 -6.91821395e-03 7.36810671e+01] [ 1.20150886e-02 8.89993849e-05 9.99927812e-01 2.86718748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.480281693 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:238.08, Y:73.71, Z:2.86 [[ 8.14402152e-01 -5.80217752e-01 -9.82317873e-03 2.38077619e+02] [ 5.80176498e-01 8.14461390e-01 -6.91920748e-03 7.37104824e+01] [ 1.20152468e-02 -6.41599655e-05 9.99927812e-01 2.86436310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54028169299994 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:238.13, Y:73.73, Z:2.87 [[ 8.09402667e-01 -5.87171909e-01 -9.82197123e-03 2.38130416e+02] [ 5.87131143e-01 8.09462242e-01 -6.92092113e-03 7.37344918e+01] [ 1.20142853e-02 -1.64973174e-04 9.99927812e-01 2.86659636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60028169299994 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:238.18, Y:73.76, Z:2.87 [[ 8.08852250e-01 -5.87929915e-01 -9.82108141e-03 2.38180382e+02] [ 5.87889189e-01 8.08911853e-01 -6.92218358e-03 7.37640589e+01] [ 1.20141480e-02 -1.74683823e-04 9.99927812e-01 2.86951886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66028169299994 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:238.23, Y:73.79, Z:2.87 [[ 8.09455928e-01 -5.87098521e-01 -9.81975455e-03 2.38234014e+02] [ 5.87057712e-01 8.09515473e-01 -6.92406534e-03 7.37861900e+01] [ 1.20143518e-02 -1.60036906e-04 9.99927812e-01 2.86968885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72028169299995 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:238.29, Y:73.81, Z:2.87 [[ 8.10190515e-01 -5.86084401e-01 -9.81857302e-03 2.38287003e+02] [ 5.86043496e-01 8.10249995e-01 -6.92574039e-03 7.38113461e+01] [ 1.20145672e-02 -1.42941682e-04 9.99927812e-01 2.87212222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78028169299995 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:238.34, Y:73.84, Z:2.87 [[ 8.10728154e-01 -5.85340483e-01 -9.81728575e-03 2.38338293e+02] [ 5.85299502e-01 8.10787581e-01 -6.92756462e-03 7.38386244e+01] [ 1.20147174e-02 -1.29680783e-04 9.99927812e-01 2.87349666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84028169299995 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:238.39, Y:73.87, Z:2.88 [[ 8.14762465e-01 -5.79711801e-01 -9.81601192e-03 2.38388813e+02] [ 5.79670387e-01 8.14821592e-01 -6.92936911e-03 7.38680985e+01] [ 1.20153355e-02 -4.42615736e-05 9.99927812e-01 2.87606352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90028169299995 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:238.44, Y:73.90, Z:2.87 [[ 8.20253595e-01 -5.71915824e-01 -9.81474423e-03 2.38438368e+02] [ 5.71873827e-01 8.20312309e-01 -6.93116420e-03 7.38986596e+01] [ 1.20151980e-02 7.25170087e-05 9.99927812e-01 2.87181785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96028169299996 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:238.49, Y:73.93, Z:2.88 [[ 8.22440894e-01 -5.68765920e-01 -9.81347346e-03 2.38485473e+02] [ 5.68723677e-01 8.22499431e-01 -6.93296295e-03 7.39317540e+01] [ 1.20148094e-02 1.20797539e-04 9.99927812e-01 2.87570249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02028169299996 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:238.53, Y:73.97, Z:2.88 [[ 8.24172451e-01 -5.66253911e-01 -9.81220031e-03 2.38530980e+02] [ 5.66211468e-01 8.24230843e-01 -6.93476436e-03 7.39678611e+01] [ 1.20143556e-02 1.59661397e-04 9.99927812e-01 2.88184797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08028169299996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:238.58, Y:74.00, Z:2.88 [[ 8.22142853e-01 -5.69196694e-01 -9.81089633e-03 2.38576020e+02] [ 5.69154438e-01 8.22201380e-01 -6.93660868e-03 7.40040418e+01] [ 1.20148272e-02 1.18968062e-04 9.99927812e-01 2.87971590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14028169299996 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:238.62, Y:74.04, Z:2.88 [[ 8.19361504e-01 -5.73193247e-01 -9.80957703e-03 2.38622473e+02] [ 5.73151254e-01 8.19420220e-01 -6.93847389e-03 7.40368685e+01] [ 1.20152522e-02 6.27470275e-05 9.99927812e-01 2.88035145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20028169299997 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:238.67, Y:74.07, Z:2.88 [[ 8.17616522e-01 -5.75679606e-01 -9.80886630e-03 2.38669878e+02] [ 5.75637779e-01 8.17675358e-01 -6.93947850e-03 7.40700997e+01] [ 1.20153845e-02 2.74782634e-05 9.99927812e-01 2.88321669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26028169299997 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:238.72, Y:74.10, Z:2.88 [[ 8.16798362e-01 -5.76839881e-01 -9.80756143e-03 2.38718778e+02] [ 5.76798116e-01 8.16857241e-01 -6.94132219e-03 7.41011229e+01] [ 1.20154090e-02 1.26776397e-05 9.99927812e-01 2.87846791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32028169299997 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:238.77, Y:74.13, Z:2.88 [[ 8.18239195e-01 -5.74794273e-01 -9.80625812e-03 2.38766814e+02] [ 5.74752339e-01 8.18297954e-01 -6.94316293e-03 7.41327764e+01] [ 1.20153312e-02 4.49982656e-05 9.99927812e-01 2.88065822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.380281693 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:238.82, Y:74.16, Z:2.88 [[ 8.21276392e-01 -5.70446274e-01 -9.80497062e-03 2.38815889e+02] [ 5.70404007e-01 8.21334911e-01 -6.94498063e-03 7.41635031e+01] [ 1.20149030e-02 1.10954104e-04 9.99927812e-01 2.87923675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.440281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:238.86, Y:74.20, Z:2.88 [[ 8.23227699e-01 -5.67626676e-01 -9.80369603e-03 2.38863777e+02] [ 5.67584187e-01 8.23286058e-01 -6.94677940e-03 7.41954141e+01] [ 1.20144236e-02 1.54358381e-04 9.99927812e-01 2.88085255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.500281693 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:238.91, Y:74.23, Z:2.88 [[ 8.22415749e-01 -5.68802468e-01 -9.80241825e-03 2.38910949e+02] [ 5.68760041e-01 8.22474153e-01 -6.94858198e-03 7.42285658e+01] [ 1.20146062e-02 1.39399443e-04 9.99927812e-01 2.88399511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.560281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:238.96, Y:74.26, Z:2.89 [[ 8.22750801e-01 -5.68317743e-01 -9.80113492e-03 2.38957056e+02] [ 5.68275260e-01 8.22809164e-01 -6.95039167e-03 7.42641031e+01] [ 1.20144945e-02 1.48697820e-04 9.99927812e-01 2.88601149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.620281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:239.00, Y:74.30, Z:2.88 [[ 8.23858647e-01 -5.66710590e-01 -9.79985781e-03 2.38999629e+02] [ 5.66667972e-01 8.23916911e-01 -6.95219190e-03 7.43030588e+01] [ 1.20141493e-02 1.74357866e-04 9.99927812e-01 2.88419311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.680281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:239.04, Y:74.34, Z:2.88 [[ 8.21207734e-01 -5.70545211e-01 -9.79899412e-03 2.39044632e+02] [ 5.70502850e-01 8.21266186e-01 -6.95340904e-03 7.43404385e+01] [ 1.20148168e-02 1.19839202e-04 9.99927812e-01 2.87833950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.740281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:239.09, Y:74.38, Z:2.88 [[ 8.18293804e-01 -5.74716672e-01 -9.79777686e-03 2.39089426e+02] [ 5.74674589e-01 8.18352456e-01 -6.95512381e-03 7.43785208e+01] [ 1.20152604e-02 6.08013348e-05 9.99927812e-01 2.88239272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.800281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:239.14, Y:74.41, Z:2.89 [[ 8.16388990e-01 -5.77419296e-01 -9.79655293e-03 2.39136515e+02] [ 5.77377387e-01 8.16447767e-01 -6.95684733e-03 7.44123171e+01] [ 1.20153917e-02 2.31854312e-05 9.99927812e-01 2.88886431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.860281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:239.18, Y:74.45, Z:2.89 [[ 8.14923824e-01 -5.79485300e-01 -9.79530674e-03 2.39183403e+02] [ 5.79443518e-01 8.14982691e-01 -6.95860153e-03 7.44465038e+01] [ 1.20154127e-02 -5.09683283e-06 9.99927812e-01 2.89032292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.920281693 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:239.23, Y:74.48, Z:2.89 [[ 8.15193356e-01 -5.79106095e-01 -9.79403854e-03 2.39231312e+02] [ 5.79064265e-01 8.15252188e-01 -6.96038603e-03 7.44769466e+01] [ 1.20154133e-02 2.68271904e-06 9.99927812e-01 2.88665539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.980281693 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:239.28, Y:74.51, Z:2.89 [[ 8.17709208e-01 -5.75548217e-01 -9.79291495e-03 2.39280179e+02] [ 5.75506111e-01 8.17767844e-01 -6.96196652e-03 7.45089535e+01] [ 1.20152784e-02 5.69817260e-05 9.99927812e-01 2.88514986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04028169299994 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:239.33, Y:74.54, Z:2.89 [[ 8.23179058e-01 -5.67697420e-01 -9.79168081e-03 2.39327321e+02] [ 5.67654735e-01 8.23237274e-01 -6.96370184e-03 7.45424148e+01] [ 1.20141522e-02 1.74079546e-04 9.99927812e-01 2.88657924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10028169299994 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:239.37, Y:74.58, Z:2.89 [[ 8.25661757e-01 -5.64080501e-01 -9.79039921e-03 2.39373649e+02] [ 5.64037539e-01 8.25719768e-01 -6.96550320e-03 7.45754498e+01] [ 1.20132307e-02 2.28996927e-04 9.99927812e-01 2.88709895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16028169299994 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:239.42, Y:74.61, Z:2.89 [[ 8.28597312e-01 -5.59759471e-01 -9.78925338e-03 2.39419955e+02] [ 5.59716188e-01 8.28655084e-01 -6.96711316e-03 7.46111234e+01] [ 1.20118222e-02 2.93727654e-04 9.99927812e-01 2.88500150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22028169299995 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:239.47, Y:74.65, Z:2.88 [[ 8.28228827e-01 -5.60304562e-01 -9.78813113e-03 2.39465540e+02] [ 5.60261298e-01 8.28286614e-01 -6.96868946e-03 7.46475084e+01] [ 1.20119665e-02 2.87758443e-04 9.99927812e-01 2.88424195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28028169299995 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:239.51, Y:74.68, Z:2.89 [[ 8.25054321e-01 -5.64968658e-01 -9.78684820e-03 2.39510588e+02] [ 5.64925700e-01 8.25112335e-01 -6.97049075e-03 7.46841076e+01] [ 1.20133580e-02 2.22191439e-04 9.99927812e-01 2.88930272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34028169299995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:239.56, Y:74.72, Z:2.89 [[ 8.24072380e-01 -5.66399986e-01 -9.78618975e-03 2.39556784e+02] [ 5.66357117e-01 8.24130460e-01 -6.97141505e-03 7.47190550e+01] [ 1.20137064e-02 2.02472373e-04 9.99927812e-01 2.89065857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40028169299995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:239.60, Y:74.75, Z:2.89 [[ 8.21807438e-01 -5.69681306e-01 -9.78493862e-03 2.39603971e+02] [ 5.69638648e-01 8.21865673e-01 -6.97317068e-03 7.47530387e+01] [ 1.20143901e-02 1.56724322e-04 9.99927812e-01 2.89209122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.65, Y:74.79, Z:2.89 [[ 8.20419636e-01 -5.71678144e-01 -9.78368246e-03 2.39651232e+02] [ 5.71635607e-01 8.20477960e-01 -6.97493267e-03 7.47876437e+01] [ 1.20147124e-02 1.29670467e-04 9.99927812e-01 2.88825121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.70, Y:74.82, Z:2.89 [[ 8.19624833e-01 -5.72817105e-01 -9.78255074e-03 2.39698481e+02] [ 5.72774630e-01 8.19683202e-01 -6.97651959e-03 7.48214011e+01] [ 1.20148623e-02 1.14931826e-04 9.99927812e-01 2.89398631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58028169299996 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:239.74, Y:74.86, Z:2.90 [[ 8.20693507e-01 -5.71284950e-01 -9.78130278e-03 2.39743958e+02] [ 5.71242346e-01 8.20751781e-01 -6.97826882e-03 7.48550455e+01] [ 1.20146016e-02 1.39525566e-04 9.99927812e-01 2.89641728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64028169299996 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:239.79, Y:74.89, Z:2.90 [[ 8.21870172e-01 -5.69590879e-01 -9.78013691e-03 2.39789522e+02] [ 5.69548135e-01 8.21928344e-01 -6.97990243e-03 7.48906013e+01] [ 1.20142605e-02 1.66314879e-04 9.99927812e-01 2.89528523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70028169299997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:239.83, Y:74.93, Z:2.90 [[ 8.21995777e-01 -5.69409621e-01 -9.77889133e-03 2.39833872e+02] [ 5.69366843e-01 8.22053924e-01 -6.98164706e-03 7.49279245e+01] [ 1.20141930e-02 1.71107908e-04 9.99927812e-01 2.89571753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76028169299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:239.88, Y:74.97, Z:2.90 [[ 8.22847872e-01 -5.68177595e-01 -9.77756204e-03 2.39876814e+02] [ 5.68134708e-01 8.22905939e-01 -6.98350819e-03 7.49677772e+01] [ 1.20138868e-02 1.91392495e-04 9.99927812e-01 2.89916396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82028169299997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:239.92, Y:75.00, Z:2.90 [[ 8.22707854e-01 -5.68380328e-01 -9.77693448e-03 2.39920841e+02] [ 5.68337446e-01 8.22765924e-01 -6.98438667e-03 7.50048303e+01] [ 1.20139165e-02 1.89511804e-04 9.99927812e-01 2.89816386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.880281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:239.96, Y:75.04, Z:2.90 [[ 8.20893021e-01 -5.70998313e-01 -9.77624150e-03 2.39963937e+02] [ 5.70955604e-01 8.20951218e-01 -6.98535652e-03 7.50437668e+01] [ 1.20144442e-02 1.52430541e-04 9.99927812e-01 2.89617645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.940281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:240.01, Y:75.08, Z:2.89 [[ 8.17350706e-01 -5.76057528e-01 -9.77489537e-03 2.40008620e+02] [ 5.76015156e-01 8.17409150e-01 -6.98723970e-03 7.50801953e+01] [ 1.20151409e-02 8.05374131e-05 9.99927812e-01 2.89348403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.000281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:240.05, Y:75.11, Z:2.89 [[ 8.12684248e-01 -5.82622340e-01 -9.77355917e-03 2.40054062e+02] [ 5.82580418e-01 8.12743015e-01 -6.98910825e-03 7.51145652e+01] [ 1.20154025e-02 -1.39460097e-05 9.99927812e-01 2.89153500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.060281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:240.10, Y:75.15, Z:2.89 [[ 8.11999442e-01 -5.83576392e-01 -9.77248726e-03 2.40100875e+02] [ 5.83534521e-01 8.12058245e-01 -6.99060672e-03 7.51464646e+01] [ 1.20153819e-02 -2.62149230e-05 9.99927812e-01 2.89483568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.120281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:240.15, Y:75.18, Z:2.90 [[ 8.12274279e-01 -5.83193807e-01 -9.77133834e-03 2.40148923e+02] [ 5.83151889e-01 8.12333050e-01 -6.99221228e-03 7.51785189e+01] [ 1.20153960e-02 -1.85802191e-05 9.99927812e-01 2.89789092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.180281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:240.20, Y:75.21, Z:2.90 [[ 8.14200120e-01 -5.80502118e-01 -9.77012496e-03 2.40197609e+02] [ 5.80459985e-01 8.14258737e-01 -6.99390731e-03 7.52108149e+01] [ 1.20153876e-02 2.32735814e-05 9.99927812e-01 2.90344878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.240281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:240.25, Y:75.24, Z:2.90 [[ 8.15668182e-01 -5.78437538e-01 -9.76893383e-03 2.40246419e+02] [ 5.78395237e-01 8.15726677e-01 -6.99557065e-03 7.52409746e+01] [ 1.20152806e-02 5.57595946e-05 9.99927812e-01 2.90388746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.300281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:240.29, Y:75.27, Z:2.90 [[ 8.15115235e-01 -5.79216485e-01 -9.76820165e-03 2.40293303e+02] [ 5.79174227e-01 8.15173762e-01 -6.99659288e-03 7.52725939e+01] [ 1.20153236e-02 4.55388014e-05 9.99927812e-01 2.90421483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.360281693 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:240.34, Y:75.31, Z:2.90 [[ 8.14971658e-01 -5.79418502e-01 -9.76706377e-03 2.40339799e+02] [ 5.79376241e-01 8.15030182e-01 -6.99818098e-03 7.53056277e+01] [ 1.20153273e-02 4.45144666e-05 9.99927812e-01 2.90428421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.420281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:240.39, Y:75.34, Z:2.91 [[ 8.14867090e-01 -5.79565572e-01 -9.76594254e-03 2.40387044e+02] [ 5.79523302e-01 8.14925607e-01 -6.99974530e-03 7.53383018e+01] [ 1.20153280e-02 4.42708069e-05 9.99927812e-01 2.90984536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.480281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:240.43, Y:75.37, Z:2.91 [[ 8.13269600e-01 -5.81805128e-01 -9.76475185e-03 2.40434503e+02] [ 5.81762999e-01 8.13328220e-01 -7.00140593e-03 7.53693434e+01] [ 1.20154021e-02 1.32592810e-05 9.99927812e-01 2.91262813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54028169299994 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:240.48, Y:75.40, Z:2.91 [[ 8.12152489e-01 -5.83363529e-01 -9.76358661e-03 2.40482584e+02] [ 5.83321493e-01 8.12211175e-01 -7.00303051e-03 7.54010680e+01] [ 1.20154067e-02 -7.78126028e-06 9.99927812e-01 2.91105386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60028169299994 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:240.53, Y:75.44, Z:2.91 [[ 8.13799821e-01 -5.81063292e-01 -9.76227823e-03 2.40528006e+02] [ 5.81021069e-01 8.13858372e-01 -7.00485393e-03 7.54354912e+01] [ 1.20153753e-02 2.84595391e-05 9.99927812e-01 2.91202475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66028169299994 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:240.57, Y:75.47, Z:2.91 [[ 8.17269419e-01 -5.76173074e-01 -9.76138775e-03 2.40571896e+02] [ 5.76130486e-01 8.17327705e-01 -7.00609461e-03 7.54738865e+01] [ 1.20149757e-02 1.02033808e-04 9.99927812e-01 2.91029590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72028169299995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:240.62, Y:75.51, Z:2.91 [[ 8.20468037e-01 -5.71609080e-01 -9.76009317e-03 2.40616032e+02] [ 5.71566146e-01 8.20526069e-01 -7.00789760e-03 7.55121686e+01] [ 1.20141888e-02 1.71217151e-04 9.99927812e-01 2.90939114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78028169299995 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:240.66, Y:75.55, Z:2.91 [[ 8.20295055e-01 -5.71857315e-01 -9.75877640e-03 2.40658786e+02] [ 5.71814376e-01 8.20353084e-01 -7.00973078e-03 7.55501612e+01] [ 1.20142081e-02 1.69838855e-04 9.99927812e-01 2.91273783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84028169299995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:240.70, Y:75.59, Z:2.91 [[ 8.18276393e-01 -5.74742139e-01 -9.75803184e-03 2.40702468e+02] [ 5.74699393e-01 8.18334563e-01 -7.01076710e-03 7.55890450e+01] [ 1.20147180e-02 1.28810233e-04 9.99927812e-01 2.91353906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90028169299995 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:240.75, Y:75.62, Z:2.91 [[ 8.15030713e-01 -5.79335605e-01 -9.75673360e-03 2.40746842e+02] [ 5.79293165e-01 8.15089107e-01 -7.01257337e-03 7.56245085e+01] [ 1.20152407e-02 6.34535905e-05 9.99927812e-01 2.91075539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96028169299996 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:240.79, Y:75.66, Z:2.91 [[ 8.12516990e-01 -5.82855866e-01 -9.75604788e-03 2.40794263e+02] [ 5.82813667e-01 8.12575559e-01 -7.01352724e-03 7.56576797e+01] [ 1.20154015e-02 1.26519980e-05 9.99927812e-01 2.91492511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02028169299996 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:240.84, Y:75.69, Z:2.91 [[ 8.11715811e-01 -5.83971135e-01 -9.75475875e-03 2.40840860e+02] [ 5.83928995e-01 8.11774423e-01 -7.01531976e-03 7.56917035e+01] [ 1.20154079e-02 -1.64050674e-06 9.99927812e-01 2.91364949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08028169299996 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:240.89, Y:75.72, Z:2.92 [[ 8.11957853e-01 -5.83634574e-01 -9.75346559e-03 2.40889471e+02] [ 5.83592388e-01 8.12016431e-01 -7.01711719e-03 7.57234283e+01] [ 1.20154065e-02 5.55512927e-06 9.99927812e-01 2.91527028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14028169299996 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:240.94, Y:75.76, Z:2.92 [[ 8.13363158e-01 -5.81674538e-01 -9.75216408e-03 2.40936953e+02] [ 5.81632190e-01 8.13421619e-01 -7.01892552e-03 7.57575408e+01] [ 1.20153514e-02 3.67628799e-05 9.99927812e-01 2.91768910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20028169299997 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:240.98, Y:75.79, Z:2.92 [[ 8.14055910e-01 -5.80704656e-01 -9.75080318e-03 2.40983239e+02] [ 5.80662216e-01 8.14114304e-01 -7.02081560e-03 7.57906425e+01] [ 1.20152886e-02 5.34134526e-05 9.99927812e-01 2.91683420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26028169299997 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:241.03, Y:75.82, Z:2.92 [[ 8.15294757e-01 -5.78964075e-01 -9.74988487e-03 2.41032114e+02] [ 5.78921494e-01 8.15353049e-01 -7.02209063e-03 7.58228500e+01] [ 1.20151366e-02 8.06557527e-05 9.99927812e-01 2.91584118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32028169299997 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:241.08, Y:75.85, Z:2.92 [[ 8.15436000e-01 -5.78765147e-01 -9.74856015e-03 2.41079959e+02] [ 5.78722530e-01 8.15494266e-01 -7.02392922e-03 7.58547584e+01] [ 1.20151003e-02 8.58533564e-05 9.99927812e-01 2.91991027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.380281693 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:241.13, Y:75.89, Z:2.92 [[ 8.17021844e-01 -5.76524325e-01 -9.74723344e-03 2.41128842e+02] [ 5.76481527e-01 8.17079976e-01 -7.02576983e-03 7.58851620e+01] [ 1.20147965e-02 1.21107406e-04 9.99927812e-01 2.92000913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.440281693 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:241.18, Y:75.92, Z:2.92 [[ 8.19006556e-01 -5.73701374e-01 -9.74651892e-03 2.41176341e+02] [ 5.73658364e-01 8.19064531e-01 -7.02676092e-03 7.59192593e+01] [ 1.20142903e-02 1.63791162e-04 9.99927812e-01 2.92160767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.500281693 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:241.22, Y:75.96, Z:2.93 [[ 8.24612467e-01 -5.65614100e-01 -9.74520044e-03 2.41220056e+02] [ 5.65570500e-01 8.24670000e-01 -7.02858900e-03 7.59559317e+01] [ 1.20120435e-02 2.84264234e-04 9.99927812e-01 2.92591855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.560281693 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:241.26, Y:76.00, Z:2.93 [[ 8.27241076e-01 -5.61762626e-01 -9.74446562e-03 2.41262542e+02] [ 5.61718746e-01 8.27298396e-01 -7.02960761e-03 7.59966740e+01] [ 1.20105516e-02 3.41531161e-04 9.99927812e-01 2.92516391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.620281693 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:241.31, Y:76.03, Z:2.92 [[ 8.23872075e-01 -5.66692047e-01 -9.74310367e-03 2.41305298e+02] [ 5.66648487e-01 8.23929639e-01 -7.03149477e-03 7.60341758e+01] [ 1.20123241e-02 2.72137231e-04 9.99927812e-01 2.92485844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.680281693 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:241.35, Y:76.07, Z:2.93 [[ 8.21986807e-01 -5.69423199e-01 -9.74218397e-03 2.41348115e+02] [ 5.69379815e-01 8.22044504e-01 -7.03276880e-03 7.60714997e+01] [ 1.20131305e-02 2.33840255e-04 9.99927812e-01 2.92663900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.740281693 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:241.39, Y:76.11, Z:2.92 [[ 8.19542279e-01 -5.72935912e-01 -9.74128198e-03 2.41393051e+02] [ 5.72892762e-01 8.19600150e-01 -7.03401795e-03 7.61085806e+01] [ 1.20139977e-02 1.83965168e-04 9.99927812e-01 2.92494502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.800281693 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:241.44, Y:76.14, Z:2.92 [[ 8.17370126e-01 -5.76030564e-01 -9.73994614e-03 2.41436929e+02] [ 5.75987610e-01 8.17428144e-01 -7.03586718e-03 7.61447054e+01] [ 1.20145806e-02 1.40819348e-04 9.99927812e-01 2.92308992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.860281693 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:241.48, Y:76.18, Z:2.93 [[ 8.16359466e-01 -5.77462007e-01 -9.73926304e-03 2.41483894e+02] [ 5.77419143e-01 8.16417550e-01 -7.03681262e-03 7.61777048e+01] [ 1.20147972e-02 1.20931674e-04 9.99927812e-01 2.92593539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.920281693 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:241.53, Y:76.21, Z:2.93 [[ 8.14356330e-01 -5.80283490e-01 -9.73850863e-03 2.41528593e+02] [ 5.80240816e-01 8.14414553e-01 -7.03785652e-03 7.62145548e+01] [ 1.20151351e-02 8.06428184e-05 9.99927812e-01 2.92824610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.980281693 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:241.58, Y:76.25, Z:2.93 [[ 8.13066236e-01 -5.82089755e-01 -9.73718602e-03 2.41575105e+02] [ 5.82047188e-01 8.13124538e-01 -7.03968594e-03 7.62488207e+01] [ 1.20152739e-02 5.62292156e-05 9.99927812e-01 2.92671797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04028169299994 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:241.62, Y:76.28, Z:2.93 [[ 8.12830851e-01 -5.82418424e-01 -9.73583642e-03 2.41619027e+02] [ 5.82375858e-01 8.12889154e-01 -7.04155194e-03 7.62849068e+01] [ 1.20152854e-02 5.36745659e-05 9.99927812e-01 2.93010202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10028169299994 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:241.66, Y:76.32, Z:2.93 [[ 8.12822894e-01 -5.82429541e-01 -9.73508018e-03 2.41664732e+02] [ 5.82386964e-01 8.12881188e-01 -7.04259729e-03 7.63198989e+01] [ 1.20152803e-02 5.48005246e-05 9.99927812e-01 2.93114302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16028169299994 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:241.71, Y:76.36, Z:2.93 [[ 8.14418123e-01 -5.80196842e-01 -9.73375018e-03 2.41708117e+02] [ 5.80154082e-01 8.14476284e-01 -7.04443505e-03 7.63569248e+01] [ 1.20150676e-02 9.00406662e-05 9.99927812e-01 2.93240756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22028169299995 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:241.75, Y:76.40, Z:2.93 [[ 8.18861513e-01 -5.73908608e-01 -9.73301505e-03 2.41750090e+02] [ 5.73865390e-01 8.18919334e-01 -7.04545060e-03 7.63983034e+01] [ 1.20139990e-02 1.83807865e-04 9.99927812e-01 2.93268272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28028169299995 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:241.79, Y:76.44, Z:2.93 [[ 8.20926544e-01 -5.70950876e-01 -9.73168232e-03 2.41792310e+02] [ 5.70907428e-01 8.20984192e-01 -7.04729099e-03 7.64376290e+01] [ 1.20132143e-02 2.29418513e-04 9.99927812e-01 2.93076926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34028169299995 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:241.83, Y:76.48, Z:2.93 [[ 8.20442162e-01 -5.71646715e-01 -9.73098138e-03 2.41834144e+02] [ 5.71603304e-01 8.20499839e-01 -7.04825871e-03 7.64768690e+01] [ 1.20133826e-02 2.20427511e-04 9.99927812e-01 2.93220777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40028169299995 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:241.88, Y:76.52, Z:2.94 [[ 8.18564946e-01 -5.74331569e-01 -9.73024037e-03 2.41876663e+02] [ 5.74288335e-01 8.18622755e-01 -7.04928154e-03 7.65173655e+01] [ 1.20140211e-02 1.82331221e-04 9.99927812e-01 2.93650791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46028169299996 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:241.92, Y:76.55, Z:2.94 [[ 8.15504924e-01 -5.78668346e-01 -9.72956400e-03 2.41922789e+02] [ 5.78625409e-01 8.15562953e-01 -7.05021496e-03 7.65516950e+01] [ 1.20148082e-02 1.19712071e-04 9.99927812e-01 2.93846879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52028169299996 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:241.97, Y:76.58, Z:2.93 [[ 8.10824250e-01 -5.85208848e-01 -9.72823875e-03 2.41970680e+02] [ 5.85166357e-01 8.10882607e-01 -7.05204314e-03 7.65849256e+01] [ 1.20153776e-02 2.53295616e-05 9.99927812e-01 2.93368599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58028169299996 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:242.02, Y:76.61, Z:2.93 [[ 8.07769412e-01 -5.89418328e-01 -9.72690673e-03 2.42020152e+02] [ 5.89376118e-01 8.07827973e-01 -7.05387991e-03 7.66130318e+01] [ 1.20153534e-02 -3.48981109e-05 9.99927812e-01 2.93245143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64028169299996 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:242.07, Y:76.65, Z:2.94 [[ 8.08225816e-01 -5.88792350e-01 -9.72622399e-03 2.42068523e+02] [ 5.88750084e-01 8.08284336e-01 -7.05482119e-03 7.66455194e+01] [ 1.20153792e-02 -2.44265851e-05 9.99927812e-01 2.93903891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70028169299997 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:242.11, Y:76.68, Z:2.93 [[ 8.10149946e-01 -5.86142039e-01 -9.72498614e-03 2.42113633e+02] [ 5.86099561e-01 8.10208313e-01 -7.05652713e-03 7.66805647e+01] [ 1.20153918e-02 1.70349748e-05 9.99927812e-01 2.93461366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76028169299997 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:242.16, Y:76.72, Z:2.94 [[ 8.13582280e-01 -5.81368488e-01 -9.72388882e-03 2.42157420e+02] [ 5.81325650e-01 8.13640383e-01 -7.05803892e-03 7.67186508e+01] [ 1.20150700e-02 8.95494107e-05 9.99927812e-01 2.93560356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82028169299997 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:242.20, Y:76.76, Z:2.94 [[ 8.14108126e-01 -5.80631923e-01 -9.72260635e-03 2.42201936e+02] [ 5.80589011e-01 8.14166175e-01 -7.05980510e-03 7.67564320e+01] [ 1.20149654e-02 1.02606304e-04 9.99927812e-01 2.93882373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.880281693 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:242.25, Y:76.79, Z:2.94 [[ 8.09857570e-01 -5.86546003e-01 -9.72127625e-03 2.42245457e+02] [ 5.86503493e-01 8.09915913e-01 -7.06163616e-03 7.67947243e+01] [ 1.20153908e-02 1.73570208e-05 9.99927812e-01 2.94107542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.940281693 meters Centerline goodness : 0.999532 with order 1 Centerline is valid? [True, True] Translation: X:242.29, Y:76.83, Z:2.95 [[ 8.07426854e-01 -5.89887615e-01 -9.71995788e-03 2.42290209e+02] [ 5.89845325e-01 8.07485356e-01 -7.06345035e-03 7.68304220e+01] [ 1.20153655e-02 -3.00522199e-05 9.99927812e-01 2.94584619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.000281693 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:242.34, Y:76.86, Z:2.95 [[ 8.05075483e-01 -5.93092745e-01 -9.71921654e-03 2.42338380e+02] [ 5.93050675e-01 8.05134144e-01 -7.06447029e-03 7.68633989e+01] [ 1.20151592e-02 -7.65560957e-05 9.99927812e-01 2.94538408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.060281693 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:242.38, Y:76.90, Z:2.95 [[ 8.06099479e-01 -5.91700255e-01 -9.71788578e-03 2.42382429e+02] [ 5.91658062e-01 8.06158052e-01 -7.06630041e-03 7.68997052e+01] [ 1.20152836e-02 -5.35243904e-05 9.99927812e-01 2.94535435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.120281693 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:242.43, Y:76.93, Z:2.95 [[ 8.06531864e-01 -5.91110758e-01 -9.71718296e-03 2.42428347e+02] [ 5.91068510e-01 8.06590398e-01 -7.06726675e-03 7.69348518e+01] [ 1.20153239e-02 -4.35450208e-05 9.99927812e-01 2.94605072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.180281693 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:242.47, Y:76.97, Z:2.95 [[ 8.05943513e-01 -5.91912710e-01 -9.71589546e-03 2.42474454e+02] [ 5.91870499e-01 8.06002073e-01 -7.06903632e-03 7.69694497e+01] [ 1.20152843e-02 -5.33079286e-05 9.99927812e-01 2.95027159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.240281693 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:242.52, Y:77.01, Z:2.95 [[ 8.05912346e-01 -5.91955166e-01 -9.71455298e-03 2.42518843e+02] [ 5.91912936e-01 8.05970892e-01 -7.07088074e-03 7.70050384e+01] [ 1.20152913e-02 -5.16594966e-05 9.99927812e-01 2.95150709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.300281693 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:242.57, Y:77.04, Z:2.95 [[ 8.06404664e-01 -5.91284331e-01 -9.71381805e-03 2.42565259e+02] [ 5.91242040e-01 8.06463166e-01 -7.07189022e-03 7.70406248e+01] [ 1.20153343e-02 -4.04123530e-05 9.99927812e-01 2.94729435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.360281693 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:242.61, Y:77.08, Z:2.95 [[ 8.06844449e-01 -5.90684094e-01 -9.71264109e-03 2.42609904e+02] [ 5.90641741e-01 8.06902906e-01 -7.07350631e-03 7.70783726e+01] [ 1.20153660e-02 -2.94719429e-05 9.99927812e-01 2.94690361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.420281693 meters Centerline goodness : 0.999278 with order 1 Centerline is valid? [True, True] Translation: X:242.66, Y:77.11, Z:2.95 [[ 8.04141191e-01 -5.94359012e-01 -9.71130645e-03 2.42658811e+02] [ 5.94316904e-01 8.04199825e-01 -7.07533817e-03 7.71095164e+01] [ 1.20151220e-02 -8.20227143e-05 9.99927812e-01 2.94692673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.480281693 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:242.71, Y:77.14, Z:2.95 [[ 7.99187377e-01 -6.01003539e-01 -9.70999044e-03 2.42707659e+02] [ 6.00961895e-01 7.99246342e-01 -7.07714378e-03 7.71411520e+01] [ 1.20140628e-02 -1.79370289e-04 9.99927812e-01 2.94801769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54028169299994 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:242.76, Y:77.17, Z:2.95 [[ 7.93550412e-01 -6.08427059e-01 -9.70867174e-03 2.42759713e+02] [ 6.08385945e-01 7.93609747e-01 -7.07895234e-03 7.71699508e+01] [ 1.20119227e-02 -2.89113883e-04 9.99927812e-01 2.94520091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60028169299994 meters Centerline goodness : 0.999110 with order 1 Centerline is valid? [True, True] Translation: X:242.81, Y:77.20, Z:2.95 [[ 7.93082914e-01 -6.09036333e-01 -9.70750050e-03 2.42811616e+02] [ 6.08995245e-01 7.93142268e-01 -7.08055812e-03 7.71974895e+01] [ 1.20117461e-02 -2.96351982e-04 9.99927812e-01 2.94963972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66028169299994 meters Centerline goodness : 0.999174 with order 1 Centerline is valid? [True, True] Translation: X:242.86, Y:77.22, Z:2.95 [[ 7.94503373e-01 -6.07182162e-01 -9.70633479e-03 2.42864103e+02] [ 6.07140916e-01 7.94562616e-01 -7.08215577e-03 7.72235133e+01] [ 1.20124494e-02 -2.66316345e-04 9.99927812e-01 2.95338982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72028169299995 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:242.92, Y:77.25, Z:2.95 [[ 7.97563959e-01 -6.03156318e-01 -9.70504346e-03 2.42915924e+02] [ 6.03114751e-01 7.97622978e-01 -7.08392490e-03 7.72524381e+01] [ 1.20136797e-02 -2.03371685e-04 9.99927812e-01 2.94918115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78028169299995 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:242.96, Y:77.28, Z:2.95 [[ 8.00726251e-01 -5.98951839e-01 -9.70385094e-03 2.42963951e+02] [ 5.98909943e-01 8.00785037e-01 -7.08555809e-03 7.72836709e+01] [ 1.20146067e-02 -1.38140448e-04 9.99927812e-01 2.95048737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84028169299995 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:243.01, Y:77.32, Z:2.96 [[ 8.07062567e-01 -5.90386198e-01 -9.70308030e-03 2.43012262e+02] [ 5.90343665e-01 8.07120894e-01 -7.08661327e-03 7.73150362e+01] [ 1.20153975e-02 -8.81168380e-06 9.99927812e-01 2.95851627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90028169299995 meters Centerline goodness : 0.999341 with order 1 Centerline is valid? [True, True] Translation: X:243.06, Y:77.35, Z:2.96 [[ 8.14070920e-01 -5.80684433e-01 -9.70190345e-03 2.43057364e+02] [ 5.80641185e-01 8.14128719e-01 -7.08822406e-03 7.73514070e+01] [ 1.20146196e-02 1.36992357e-04 9.99927812e-01 2.95768568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96028169299996 meters Centerline goodness : 0.999274 with order 1 Centerline is valid? [True, True] Translation: X:243.10, Y:77.39, Z:2.96 [[ 8.17487186e-01 -5.75865089e-01 -9.70054104e-03 2.43100798e+02] [ 5.75821478e-01 8.17544712e-01 -7.09008809e-03 7.73885426e+01] [ 1.20135602e-02 2.10276276e-04 9.99927812e-01 2.96302442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02028169299996 meters Centerline goodness : 0.999384 with order 1 Centerline is valid? [True, True] Translation: X:243.14, Y:77.42, Z:2.96 [[ 8.18400651e-01 -5.74566174e-01 -9.69979158e-03 2.43144908e+02] [ 5.74522460e-01 8.18458098e-01 -7.09111326e-03 7.74243052e+01] [ 1.20131868e-02 2.30623593e-04 9.99927812e-01 2.96249333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08028169299996 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:243.19, Y:77.46, Z:2.96 [[ 8.16574842e-01 -5.77158085e-01 -9.69906299e-03 2.43190843e+02] [ 5.77114542e-01 8.16632419e-01 -7.09210967e-03 7.74591416e+01] [ 1.20138377e-02 1.93768049e-04 9.99927812e-01 2.96260882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14028169299996 meters Centerline goodness : 0.999468 with order 1 Centerline is valid? [True, True] Translation: X:243.24, Y:77.49, Z:2.96 [[ 8.13459873e-01 -5.81540188e-01 -9.69771612e-03 2.43235215e+02] [ 5.81496933e-01 8.13517666e-01 -7.09395089e-03 7.74942609e+01] [ 1.20146809e-02 1.31452205e-04 9.99927812e-01 2.96237403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20028169299997 meters Centerline goodness : 0.999471 with order 1 Centerline is valid? [True, True] Translation: X:243.28, Y:77.53, Z:2.96 [[ 8.11854575e-01 -5.83779172e-01 -9.69680035e-03 2.43282189e+02] [ 5.83736062e-01 8.11912476e-01 -7.09520245e-03 7.75274250e+01] [ 1.20149846e-02 9.99005197e-05 9.99927812e-01 2.95700315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26028169299997 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:243.33, Y:77.56, Z:2.96 [[ 8.09438513e-01 -5.87124585e-01 -9.69614074e-03 2.43329983e+02] [ 5.87081704e-01 8.09496583e-01 -7.09610374e-03 7.75595409e+01] [ 1.20152898e-02 5.14328295e-05 9.99927812e-01 2.95794295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32028169299997 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:243.38, Y:77.59, Z:2.96 [[ 8.11028795e-01 -5.84925896e-01 -9.69480403e-03 2.43375199e+02] [ 5.84882835e-01 8.11086733e-01 -7.09792951e-03 7.75936402e+01] [ 1.20150897e-02 8.63007476e-05 9.99927812e-01 2.95972518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.380281693 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:243.42, Y:77.63, Z:2.96 [[ 8.12409541e-01 -5.83006658e-01 -9.69405532e-03 2.43420702e+02] [ 5.82963448e-01 8.12467368e-01 -7.09895192e-03 7.76289753e+01] [ 1.20148398e-02 1.15976360e-04 9.99927812e-01 2.96215894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.440281693 meters Centerline goodness : 0.999428 with order 1 Centerline is valid? [True, True] Translation: X:243.46, Y:77.67, Z:2.96 [[ 8.13826196e-01 -5.81027515e-01 -9.69275888e-03 2.43464736e+02] [ 5.80984143e-01 8.13883902e-01 -7.10072161e-03 7.76685743e+01] [ 1.20144950e-02 1.47414047e-04 9.99927812e-01 2.95521102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.500281693 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:243.51, Y:77.70, Z:2.96 [[ 8.11652843e-01 -5.84059702e-01 -9.69159037e-03 2.43511192e+02] [ 5.84016527e-01 8.11710696e-01 -7.10231612e-03 7.77034265e+01] [ 1.20149442e-02 1.04566125e-04 9.99927812e-01 2.95822269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.560281693 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:243.56, Y:77.74, Z:2.96 [[ 8.09796148e-01 -5.86631301e-01 -9.69099445e-03 2.43557185e+02] [ 5.86588300e-01 8.09854130e-01 -7.10312915e-03 7.77394783e+01] [ 1.20152098e-02 6.74626616e-05 9.99927812e-01 2.95867732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.620281693 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:243.60, Y:77.78, Z:2.96 [[ 8.09245103e-01 -5.87391243e-01 -9.68971269e-03 2.43603153e+02] [ 5.87348275e-01 8.09303110e-01 -7.10487722e-03 7.77750667e+01] [ 1.20152573e-02 5.83510651e-05 9.99927812e-01 2.95973965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.680281693 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:243.65, Y:77.81, Z:2.97 [[ 8.07091878e-01 -5.90346369e-01 -9.68841218e-03 2.43650091e+02] [ 5.90303593e-01 8.07150026e-01 -7.10665019e-03 7.78094221e+01] [ 1.20153873e-02 1.66151225e-05 9.99927812e-01 2.96577975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.740281693 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:243.70, Y:77.84, Z:2.96 [[ 8.09216684e-01 -5.87430437e-01 -9.68712924e-03 2.43695089e+02] [ 5.87387430e-01 8.09274661e-01 -7.10839855e-03 7.78444317e+01] [ 1.20152379e-02 6.21367542e-05 9.99927812e-01 2.96402021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.800281693 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:243.74, Y:77.88, Z:2.97 [[ 8.15196730e-01 -5.79103163e-01 -9.68600346e-03 2.43738576e+02] [ 5.79059546e-01 8.15254250e-01 -7.10993223e-03 7.78838815e+01] [ 1.20139397e-02 1.87220736e-04 9.99927812e-01 2.96901649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.860281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:243.78, Y:77.93, Z:2.97 [[ 8.19072223e-01 -5.73608666e-01 -9.68467296e-03 2.43779006e+02] [ 5.73564641e-01 8.19129432e-01 -7.11174408e-03 7.79251050e+01] [ 1.20123587e-02 2.70246065e-04 9.99927812e-01 2.96926598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.920281693 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:243.82, Y:77.96, Z:2.96 [[ 8.20509039e-01 -5.71551519e-01 -9.68395718e-03 2.43823488e+02] [ 5.71507339e-01 8.20566128e-01 -7.11271862e-03 7.79648431e+01] [ 1.20116124e-02 3.01597318e-04 9.99927812e-01 2.96280856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.980281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:243.86, Y:78.01, Z:2.97 [[ 8.21297654e-01 -5.70417739e-01 -9.68330764e-03 2.43862058e+02] [ 5.70373471e-01 8.21354674e-01 -7.11360280e-03 7.80081963e+01] [ 1.20111552e-02 3.19283505e-04 9.99927812e-01 2.96638756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04028169299994 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:78.05, Z:2.97 [[ 8.21374982e-01 -5.70306397e-01 -9.68257315e-03 2.43905753e+02] [ 5.70262109e-01 8.21431987e-01 -7.11460239e-03 7.80462525e+01] [ 1.20110786e-02 3.22151817e-04 9.99927812e-01 2.96666863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10028169299994 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:78.09, Z:2.97 [[ 8.21748957e-01 -5.69767431e-01 -9.68129463e-03 2.43944256e+02] [ 5.69723084e-01 8.21805917e-01 -7.11634173e-03 7.80907480e+01] [ 1.20108050e-02 3.32189353e-04 9.99927813e-01 2.96588144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16028169299994 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:78.14, Z:2.97 [[ 8.20180853e-01 -5.72022427e-01 -9.68042556e-03 2.43982460e+02] [ 5.71978224e-01 8.20237924e-01 -7.11752375e-03 7.81374382e+01] [ 1.20116354e-02 3.00664086e-04 9.99927813e-01 2.96759854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22028169299995 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:244.02, Y:78.18, Z:2.97 [[ 8.16827927e-01 -5.76800183e-01 -9.67917414e-03 2.44022902e+02] [ 5.76756293e-01 8.16885240e-01 -7.11922515e-03 7.81801330e+01] [ 1.20131449e-02 2.32657322e-04 9.99927813e-01 2.96788456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28028169299995 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:244.07, Y:78.22, Z:2.98 [[ 8.11761067e-01 -5.83909503e-01 -9.67790430e-03 2.44065447e+02] [ 5.83866095e-01 8.11818745e-01 -7.12095095e-03 7.82220330e+01] [ 1.20146951e-02 1.29910558e-04 9.99927813e-01 2.97883884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34028169299995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:244.11, Y:78.26, Z:2.98 [[ 8.07622735e-01 -5.89620113e-01 -9.67680146e-03 2.44110474e+02] [ 5.89577095e-01 8.07680704e-01 -7.12244932e-03 7.82580024e+01] [ 1.20153052e-02 4.70315080e-05 9.99927813e-01 2.97909629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40028169299995 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:244.15, Y:78.30, Z:2.98 [[ 8.03309451e-01 -5.95483257e-01 -9.67551993e-03 2.44154271e+02] [ 5.95440641e-01 8.03367717e-01 -7.12418979e-03 7.82954330e+01] [ 1.20153361e-02 -3.82688019e-05 9.99927813e-01 2.97712305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46028169299996 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:244.20, Y:78.33, Z:2.98 [[ 8.01170847e-01 -5.98357481e-01 -9.67465390e-03 2.44201455e+02] [ 5.98315060e-01 8.01229254e-01 -7.12536566e-03 7.83291415e+01] [ 1.20151316e-02 -7.98558911e-05 9.99927813e-01 2.98050699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52028169299996 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:244.25, Y:78.36, Z:2.98 [[ 7.99061024e-01 -6.01172110e-01 -9.67336854e-03 2.44247371e+02] [ 6.01129873e-01 7.99119566e-01 -7.12711024e-03 7.83622765e+01] [ 1.20147980e-02 -1.19954789e-04 9.99927813e-01 2.98419704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58028169299996 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:78.39, Z:2.98 [[ 7.95451074e-01 -6.05940618e-01 -9.67249948e-03 2.44299304e+02] [ 6.05898717e-01 7.95509857e-01 -7.12828947e-03 7.83894399e+01] [ 1.20138888e-02 -1.90349519e-04 9.99927813e-01 2.97877467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64028169299996 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:78.42, Z:2.98 [[ 7.94947418e-01 -6.06601245e-01 -9.67120691e-03 2.44348560e+02] [ 6.06559372e-01 7.95006221e-01 -7.13004272e-03 7.84183088e+01] [ 1.20137624e-02 -1.98152143e-04 9.99927813e-01 2.97875815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70028169299997 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:78.45, Z:2.98 [[ 7.96756923e-01 -6.04222550e-01 -9.67033008e-03 2.44398081e+02] [ 6.04180487e-01 7.96815590e-01 -7.13123175e-03 7.84491164e+01] [ 1.20143208e-02 -1.60766473e-04 9.99927813e-01 2.97737891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76028169299997 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:244.45, Y:78.47, Z:2.98 [[ 7.99648272e-01 -6.00390832e-01 -9.66906222e-03 2.44451024e+02] [ 6.00348467e-01 7.99706720e-01 -7.13295039e-03 7.84737973e+01] [ 1.20149721e-02 -1.00955233e-04 9.99927813e-01 2.97662776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82028169299997 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:244.50, Y:78.50, Z:2.98 [[ 7.99457526e-01 -6.00644816e-01 -9.66791925e-03 2.44501907e+02] [ 6.00602451e-01 7.99515975e-01 -7.13449922e-03 7.85028476e+01] [ 1.20149559e-02 -1.02846901e-04 9.99927813e-01 2.97525396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.880281693 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:244.55, Y:78.53, Z:2.98 [[ 7.98818660e-01 -6.01494227e-01 -9.66660022e-03 2.44554089e+02] [ 6.01451903e-01 7.98877138e-01 -7.13628594e-03 7.85300938e+01] [ 1.20148607e-02 -1.13396723e-04 9.99927813e-01 2.97637206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.940281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:244.61, Y:78.56, Z:2.98 [[ 8.00719249e-01 -5.98961824e-01 -9.66526533e-03 2.44606221e+02] [ 5.98919293e-01 8.00777577e-01 -7.13809344e-03 7.85573561e+01] [ 1.20151732e-02 -7.31050515e-05 9.99927813e-01 2.98169143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.000281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:244.65, Y:78.59, Z:2.99 [[ 8.04174178e-01 -5.94315140e-01 -9.66468568e-03 2.44654446e+02] [ 5.94272262e-01 8.04232252e-01 -7.13887817e-03 7.85899822e+01] [ 1.20153953e-02 -2.55314193e-06 9.99927813e-01 2.98522085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.060281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:244.70, Y:78.62, Z:2.98 [[ 8.07741622e-01 -5.89457454e-01 -9.66345658e-03 2.44703587e+02] [ 5.89414208e-01 8.07799421e-01 -7.14054154e-03 7.86207416e+01] [ 1.20151801e-02 7.19339977e-05 9.99927813e-01 2.98197087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.120281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:244.75, Y:78.65, Z:2.98 [[ 8.09109853e-01 -5.87577986e-01 -9.66211249e-03 2.44750944e+02] [ 5.87534584e-01 8.09167535e-01 -7.14235982e-03 7.86541728e+01] [ 1.20149611e-02 1.02128463e-04 9.99927813e-01 2.98021337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.180281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:244.80, Y:78.69, Z:2.98 [[ 8.10497229e-01 -5.85662797e-01 -9.66076365e-03 2.44796897e+02] [ 5.85619236e-01 8.10554792e-01 -7.14418380e-03 7.86874316e+01] [ 1.20146609e-02 1.32812141e-04 9.99927813e-01 2.98344766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.240281693 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:244.84, Y:78.72, Z:2.98 [[ 8.11466766e-01 -5.84318724e-01 -9.65999448e-03 2.44840672e+02] [ 5.84275056e-01 8.11524248e-01 -7.14522367e-03 7.87244095e+01] [ 1.20144077e-02 1.54017735e-04 9.99927813e-01 2.98443478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.300281693 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:244.89, Y:78.76, Z:2.98 [[ 8.14225665e-01 -5.80468143e-01 -9.65927430e-03 2.44885630e+02] [ 5.80424191e-01 8.14282930e-01 -7.14619712e-03 7.87606554e+01] [ 1.20135219e-02 2.12140629e-04 9.99927813e-01 2.98225768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.360281693 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:244.93, Y:78.80, Z:2.99 [[ 8.15727452e-01 -5.78355814e-01 -9.65796903e-03 2.44928385e+02] [ 5.78311694e-01 8.15784587e-01 -7.14796074e-03 7.87995561e+01] [ 1.20128869e-02 2.45471375e-04 9.99927813e-01 2.98875543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.420281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:244.97, Y:78.84, Z:2.99 [[ 8.14942427e-01 -5.79461453e-01 -9.65739711e-03 2.44973371e+02] [ 5.79417401e-01 8.14999614e-01 -7.14873336e-03 7.88364921e+01] [ 1.20131903e-02 2.30142187e-04 9.99927813e-01 2.99107448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.480281693 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:245.02, Y:78.88, Z:2.99 [[ 8.13967621e-01 -5.80829985e-01 -9.65611834e-03 2.45015325e+02] [ 5.80786008e-01 8.14024867e-01 -7.15046023e-03 7.88763516e+01] [ 1.20135222e-02 2.12104682e-04 9.99927813e-01 2.98720526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54028169299994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:245.06, Y:78.91, Z:2.99 [[ 8.13971334e-01 -5.80824796e-01 -9.65524845e-03 2.45060624e+02] [ 5.80780805e-01 8.14028569e-01 -7.15163465e-03 7.89128153e+01] [ 1.20134948e-02 2.13642625e-04 9.99927813e-01 2.98721851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60028169299994 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:245.10, Y:78.95, Z:2.99 [[ 8.14341089e-01 -5.80306291e-01 -9.65398940e-03 2.45103940e+02] [ 5.80262244e-01 8.14398280e-01 -7.15333384e-03 7.89514887e+01] [ 1.20133170e-02 2.23408112e-04 9.99927813e-01 2.98930470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66028169299994 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:245.15, Y:78.99, Z:2.99 [[ 8.14987054e-01 -5.79398764e-01 -9.65269879e-03 2.45146233e+02] [ 5.79354632e-01 8.15044180e-01 -7.15507496e-03 7.89913012e+01] [ 1.20130176e-02 2.38957712e-04 9.99927813e-01 2.99276368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72028169299995 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:245.19, Y:79.03, Z:2.99 [[ 8.14670463e-01 -5.79843849e-01 -9.65134321e-03 2.45189791e+02] [ 5.79799726e-01 8.14727596e-01 -7.15690301e-03 7.90287461e+01] [ 1.20131018e-02 2.34671336e-04 9.99927813e-01 2.98602158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78028169299995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:245.23, Y:79.06, Z:2.99 [[ 8.13437899e-01 -5.81571706e-01 -9.65067490e-03 2.45234078e+02] [ 5.81527694e-01 8.13495118e-01 -7.15780408e-03 7.90644632e+01] [ 1.20135532e-02 2.10294389e-04 9.99927813e-01 2.98782520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84028169299995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:245.28, Y:79.10, Z:2.99 [[ 8.09928281e-01 -5.86449536e-01 -9.64998030e-03 2.45280565e+02] [ 5.86405858e-01 8.09985755e-01 -7.15874039e-03 7.90986864e+01] [ 1.20145866e-02 1.39261319e-04 9.99927813e-01 2.99304419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90028169299995 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:245.33, Y:79.13, Z:2.99 [[ 8.05477462e-01 -5.92547857e-01 -9.64862202e-03 2.45327056e+02] [ 5.92504592e-01 8.05535247e-01 -7.16057063e-03 7.91332227e+01] [ 1.20152859e-02 5.08253955e-05 9.99927813e-01 2.99274302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96028169299996 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:245.37, Y:79.17, Z:2.99 [[ 8.04119106e-01 -5.94389934e-01 -9.64726485e-03 2.45373755e+02] [ 5.94346779e-01 8.04176974e-01 -7.16239865e-03 7.91670378e+01] [ 1.20153659e-02 2.56008054e-05 9.99927813e-01 2.99414705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02028169299996 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:245.42, Y:79.20, Z:3.00 [[ 8.00201697e-01 -5.99653401e-01 -9.64591466e-03 2.45422588e+02] [ 5.99610605e-01 8.00259831e-01 -7.16421654e-03 7.91974556e+01] [ 1.20152848e-02 -5.09744923e-05 9.99927813e-01 2.99532256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08028169299996 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:245.47, Y:79.23, Z:3.00 [[ 7.98367530e-01 -6.02093230e-01 -9.64518180e-03 2.45471759e+02] [ 6.02050600e-01 7.98425785e-01 -7.16520305e-03 7.92274094e+01] [ 1.20150821e-02 -8.64220284e-05 9.99927813e-01 2.99750428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14028169299996 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:245.52, Y:79.26, Z:3.00 [[ 7.99317800e-01 -6.00831130e-01 -9.64404832e-03 2.45520069e+02] [ 6.00788389e-01 7.99375975e-01 -7.16672834e-03 7.92603385e+01] [ 1.20152140e-02 -6.55387271e-05 9.99927813e-01 3.00220405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.57, Y:79.29, Z:3.00 [[ 8.01979378e-01 -5.97273885e-01 -9.64273053e-03 2.45567956e+02] [ 5.97230866e-01 8.02037347e-01 -7.16850097e-03 7.92934567e+01] [ 1.20153884e-02 -9.94634862e-06 9.99927813e-01 3.00205804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26028169299997 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:245.61, Y:79.33, Z:3.00 [[ 8.06012288e-01 -5.91820272e-01 -9.64142409e-03 2.45612194e+02] [ 5.91776839e-01 8.06069947e-01 -7.17025766e-03 7.93307103e+01] [ 1.20151661e-02 7.37443080e-05 9.99927813e-01 3.00402271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32028169299997 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:245.65, Y:79.37, Z:3.00 [[ 8.11675536e-01 -5.84029017e-01 -9.64012442e-03 2.45654014e+02] [ 5.83985010e-01 8.11732758e-01 -7.17200460e-03 7.93719503e+01] [ 1.20138636e-02 1.91652515e-04 9.99927813e-01 2.99858158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.380281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:245.70, Y:79.41, Z:3.00 [[ 8.14030362e-01 -5.80742338e-01 -9.63878567e-03 2.45695416e+02] [ 5.80698078e-01 8.14087390e-01 -7.17380335e-03 7.94129944e+01] [ 1.20129452e-02 2.42469419e-04 9.99927813e-01 2.99746634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.440281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:245.73, Y:79.46, Z:3.00 [[ 8.13486202e-01 -5.81504358e-01 -9.63744920e-03 2.45733929e+02] [ 5.81460131e-01 8.13543255e-01 -7.17559835e-03 7.94568575e+01] [ 1.20131235e-02 2.33457782e-04 9.99927813e-01 3.00256514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.500281693 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:245.77, Y:79.50, Z:3.00 [[ 8.09879602e-01 -5.86516977e-01 -9.63670473e-03 2.45774681e+02] [ 5.86473091e-01 8.09936917e-01 -7.17659802e-03 7.94973292e+01] [ 1.20143195e-02 1.60512337e-04 9.99927813e-01 3.00044200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.560281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:245.82, Y:79.54, Z:3.00 [[ 8.07535039e-01 -5.89740882e-01 -9.63599260e-03 2.45816681e+02] [ 5.89697213e-01 8.07592521e-01 -7.17755406e-03 7.95387075e+01] [ 1.20148526e-02 1.13808416e-04 9.99927813e-01 3.00301705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.620281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:245.86, Y:79.58, Z:3.00 [[ 8.04280608e-01 -5.94171589e-01 -9.63470579e-03 2.45860563e+02] [ 5.94128216e-01 8.04338312e-01 -7.17928098e-03 7.95753406e+01] [ 1.20152878e-02 4.99059110e-05 9.99927813e-01 3.00343212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.680281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:245.90, Y:79.61, Z:3.01 [[ 8.00277397e-01 -5.99552562e-01 -9.63400551e-03 2.45904108e+02] [ 5.99509566e-01 8.00335383e-01 -7.18022058e-03 7.96127005e+01] [ 1.20153551e-02 -2.95102354e-05 9.99927813e-01 3.00608989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.740281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:245.95, Y:79.65, Z:3.01 [[ 7.99145526e-01 -6.01060426e-01 -9.63287292e-03 2.45948598e+02] [ 6.01017521e-01 7.99203580e-01 -7.18173972e-03 7.96497387e+01] [ 1.20152861e-02 -5.02702399e-05 9.99927813e-01 3.00687121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.800281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:245.99, Y:79.69, Z:3.01 [[ 8.00004579e-01 -5.99916581e-01 -9.63162780e-03 2.45988727e+02] [ 5.99873574e-01 8.00062557e-01 -7.18340920e-03 7.96911707e+01] [ 1.20153511e-02 -3.09987265e-05 9.99927813e-01 3.00903326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.860281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:246.03, Y:79.73, Z:3.01 [[ 7.97207201e-01 -6.03628968e-01 -9.63051937e-03 2.46031443e+02] [ 6.03586212e-01 7.97265365e-01 -7.18489492e-03 7.97310794e+01] [ 1.20150902e-02 -8.49987396e-05 9.99927813e-01 3.01051050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.920281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:246.08, Y:79.76, Z:3.01 [[ 7.90289689e-01 -6.12657721e-01 -9.62929697e-03 2.46078249e+02] [ 6.12615610e-01 7.90348321e-01 -7.18653282e-03 7.97648541e+01] [ 1.20133835e-02 -2.19614849e-04 9.99927813e-01 3.00973621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98028169299994 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:246.13, Y:79.79, Z:3.00 [[ 7.83095884e-01 -6.21826452e-01 -9.62808998e-03 2.46128410e+02] [ 6.21785006e-01 7.83154989e-01 -7.18814951e-03 7.97945290e+01] [ 1.20100682e-02 -3.57591696e-04 9.99927813e-01 3.00414804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04028169299994 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:246.18, Y:79.82, Z:3.00 [[ 7.81062057e-01 -6.24379202e-01 -9.62685985e-03 2.46178421e+02] [ 6.24337929e-01 7.81121282e-01 -7.18979661e-03 7.98239906e+01] [ 1.20089046e-02 -3.94736422e-04 9.99927813e-01 3.00288875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10028169299994 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:246.23, Y:79.85, Z:3.00 [[ 7.81867310e-01 -6.23370561e-01 -9.62563526e-03 2.46231300e+02] [ 6.23329193e-01 7.81926468e-01 -7.19143571e-03 7.98488665e+01] [ 1.20094683e-02 -3.77190964e-04 9.99927813e-01 2.99933921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16028169299994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:246.28, Y:79.87, Z:3.01 [[ 7.83702736e-01 -6.21061501e-01 -9.62458717e-03 2.46284892e+02] [ 6.21019941e-01 7.83761760e-01 -7.19283813e-03 7.98740592e+01] [ 1.20105782e-02 -3.40013633e-04 9.99927813e-01 3.00604444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22028169299995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:246.34, Y:79.90, Z:3.01 [[ 7.84724206e-01 -6.19770369e-01 -9.62339092e-03 2.46338555e+02] [ 6.19728692e-01 7.84783147e-01 -7.19443826e-03 7.98993668e+01] [ 1.20111747e-02 -3.18241617e-04 9.99927813e-01 3.00711437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28028169299995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:246.39, Y:79.93, Z:3.01 [[ 7.84476936e-01 -6.20083341e-01 -9.62217756e-03 2.46389240e+02] [ 6.20041668e-01 7.84535880e-01 -7.19606069e-03 7.99288509e+01] [ 1.20111009e-02 -3.21007380e-04 9.99927813e-01 3.00787184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34028169299995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:246.44, Y:79.96, Z:3.01 [[ 7.85206251e-01 -6.19159578e-01 -9.62084928e-03 2.46438430e+02] [ 6.19117813e-01 7.85265130e-01 -7.19783611e-03 7.99586534e+01] [ 1.20115266e-02 -3.04653262e-04 9.99927813e-01 3.00771802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40028169299995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:246.49, Y:79.99, Z:3.01 [[ 7.84430819e-01 -6.20141712e-01 -9.62012964e-03 2.46488560e+02] [ 6.20100009e-01 7.84489742e-01 -7.19879781e-03 7.99878679e+01] [ 1.20111678e-02 -3.18483617e-04 9.99927813e-01 3.00865379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:246.54, Y:80.02, Z:3.01 [[ 7.81169963e-01 -6.24244316e-01 -9.61888670e-03 2.46538063e+02] [ 6.24202903e-01 7.81229089e-01 -7.20045821e-03 8.00163763e+01] [ 1.20093992e-02 -3.79355330e-04 9.99927813e-01 3.00925304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:246.59, Y:80.05, Z:3.01 [[ 7.79179351e-01 -6.26727243e-01 -9.61777631e-03 2.46587572e+02] [ 6.26686000e-01 7.79238596e-01 -7.20194108e-03 8.00465608e+01] [ 1.20081952e-02 -4.15721988e-04 9.99927813e-01 3.01098364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58028169299996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:246.64, Y:80.07, Z:3.01 [[ 7.75609650e-01 -6.31139599e-01 -9.61655775e-03 2.46638432e+02] [ 6.31098672e-01 7.75669114e-01 -7.20356783e-03 8.00744056e+01] [ 1.20057237e-02 -4.81840107e-04 9.99927813e-01 3.00625303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64028169299996 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:246.69, Y:80.10, Z:3.01 [[ 7.73620119e-01 -6.33576712e-01 -9.61567308e-03 2.46690338e+02] [ 6.33535958e-01 7.73679702e-01 -7.20474853e-03 8.01011214e+01] [ 1.20042120e-02 -5.18136243e-04 9.99927813e-01 3.01355823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70028169299997 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:246.74, Y:80.13, Z:3.01 [[ 7.74874778e-01 -6.32041646e-01 -9.61439069e-03 2.46742592e+02] [ 6.32000753e-01 7.74934265e-01 -7.20645941e-03 8.01262669e+01] [ 1.20053033e-02 -4.92198523e-04 9.99927813e-01 3.01396642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76028169299997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:246.79, Y:80.16, Z:3.01 [[ 7.79632986e-01 -6.26162908e-01 -9.61352134e-03 2.46791461e+02] [ 6.26121551e-01 7.79692153e-01 -7.20761895e-03 8.01579924e+01] [ 1.20087308e-02 -3.99935404e-04 9.99927813e-01 3.01499155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82028169299997 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:246.84, Y:80.19, Z:3.02 [[ 7.82117900e-01 -6.23056334e-01 -9.61220735e-03 2.46837365e+02] [ 6.23014722e-01 7.82176886e-01 -7.20937088e-03 8.01923191e+01] [ 1.20102906e-02 -3.49968672e-04 9.99927813e-01 3.01687074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.880281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:246.88, Y:80.23, Z:3.02 [[ 7.87718299e-01 -6.15960640e-01 -9.61103238e-03 2.46883997e+02] [ 6.15918477e-01 7.87776893e-01 -7.21093694e-03 8.02269893e+01] [ 1.20130026e-02 -2.39425444e-04 9.99927813e-01 3.01866407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.940281693 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:246.93, Y:80.26, Z:3.02 [[ 7.89464630e-01 -6.13720823e-01 -9.60983885e-03 2.46931207e+02] [ 6.13678474e-01 7.89523090e-01 -7.21252716e-03 8.02600952e+01] [ 1.20136678e-02 -2.03316149e-04 9.99927813e-01 3.01714445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.000281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:246.98, Y:80.29, Z:3.01 [[ 7.88233193e-01 -6.15301640e-01 -9.60863860e-03 2.46978368e+02] [ 6.15259389e-01 7.88291723e-01 -7.21412580e-03 8.02936164e+01] [ 1.20132737e-02 -2.25391702e-04 9.99927813e-01 3.01444680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.060281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:247.03, Y:80.33, Z:3.01 [[ 7.84673614e-01 -6.19834670e-01 -9.60735403e-03 2.47025659e+02] [ 6.19792736e-01 7.84732372e-01 -7.21583611e-03 8.03259566e+01] [ 1.20118271e-02 -2.92492045e-04 9.99927813e-01 3.01246815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.120281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:247.07, Y:80.36, Z:3.02 [[ 7.81503680e-01 -6.23826674e-01 -9.60622130e-03 2.47074492e+02] [ 6.23785021e-01 7.81562638e-01 -7.21734377e-03 8.03561175e+01] [ 1.20102352e-02 -3.51836240e-04 9.99927813e-01 3.01911464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.180281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:247.13, Y:80.38, Z:3.02 [[ 7.79115540e-01 -6.26806765e-01 -9.60489525e-03 2.47125646e+02] [ 6.26765316e-01 7.79174642e-01 -7.21910805e-03 8.03847340e+01] [ 1.20088766e-02 -3.95495939e-04 9.99927813e-01 3.01613909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.240281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:247.18, Y:80.41, Z:3.01 [[ 7.79304517e-01 -6.26571815e-01 -9.60364505e-03 2.47175700e+02] [ 6.26530328e-01 7.79363592e-01 -7.22077082e-03 8.04148987e+01] [ 1.20090628e-02 -3.89795566e-04 9.99927813e-01 3.01411403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.300281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:247.23, Y:80.44, Z:3.02 [[ 7.83294936e-01 -6.21576092e-01 -9.60231283e-03 2.47225308e+02] [ 6.21534206e-01 7.83353729e-01 -7.22254200e-03 8.04439665e+01] [ 1.20113670e-02 -3.10785303e-04 9.99927813e-01 3.01575813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.360281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:247.28, Y:80.47, Z:3.01 [[ 7.87596345e-01 -6.16116723e-01 -9.60110926e-03 2.47276178e+02] [ 6.16074410e-01 7.87654831e-01 -7.22414158e-03 8.04733933e+01] [ 1.20132745e-02 -2.25290220e-04 9.99927813e-01 3.01450587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.420281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:247.32, Y:80.50, Z:3.01 [[ 7.91004324e-01 -6.11735240e-01 -9.59978230e-03 2.47324263e+02] [ 6.11692582e-01 7.91062559e-01 -7.22590449e-03 8.05035984e+01] [ 1.20143688e-02 -1.56393925e-04 9.99927813e-01 3.01393526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48028169299994 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:247.37, Y:80.54, Z:3.02 [[ 7.93085815e-01 -6.09034283e-01 -9.59858501e-03 2.47373071e+02] [ 6.08991407e-01 7.93143890e-01 -7.22749457e-03 8.05363207e+01] [ 1.20148510e-02 -1.13432371e-04 9.99927813e-01 3.02394801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54028169299994 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:247.42, Y:80.57, Z:3.02 [[ 7.95573793e-01 -6.05780678e-01 -9.59739404e-03 2.47420008e+02] [ 6.05737545e-01 7.95631678e-01 -7.22907570e-03 8.05710342e+01] [ 1.20152251e-02 -6.22387281e-05 9.99927813e-01 3.02243772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60028169299994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:247.47, Y:80.60, Z:3.02 [[ 7.98462828e-01 -6.01967631e-01 -9.59602715e-03 2.47466064e+02] [ 6.01924201e-01 7.98520489e-01 -7.23088970e-03 8.06040480e+01] [ 1.20153858e-02 -2.48433551e-06 9.99927813e-01 3.02208729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66028169299994 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:247.51, Y:80.64, Z:3.03 [[ 8.02406200e-01 -5.96701118e-01 -9.59509598e-03 2.47509838e+02] [ 5.96657294e-01 8.02463563e-01 -7.23212511e-03 8.06425701e+01] [ 1.20151320e-02 7.81180168e-05 9.99927813e-01 3.02975259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.55, Y:80.68, Z:3.03 [[ 8.06127114e-01 -5.91664631e-01 -9.59373587e-03 2.47550862e+02] [ 5.91620428e-01 8.06184185e-01 -7.23392890e-03 8.06820838e+01] [ 1.20143780e-02 1.55616117e-04 9.99927813e-01 3.02897451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78028169299995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:247.59, Y:80.72, Z:3.03 [[ 8.06853027e-01 -5.90674340e-01 -9.59252928e-03 2.47593593e+02] [ 5.90630048e-01 8.06910028e-01 -7.23552854e-03 8.07219686e+01] [ 1.20141491e-02 1.72372070e-04 9.99927813e-01 3.02572966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84028169299995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:247.64, Y:80.76, Z:3.03 [[ 8.07613180e-01 -5.89634599e-01 -9.59122067e-03 2.47636528e+02] [ 5.89590212e-01 8.07670108e-01 -7.23726278e-03 8.07612378e+01] [ 1.20138828e-02 1.90018977e-04 9.99927813e-01 3.02951730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90028169299995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:247.68, Y:80.80, Z:3.03 [[ 8.07896738e-01 -5.89246040e-01 -9.58986150e-03 2.47676713e+02] [ 5.89201605e-01 8.07953628e-01 -7.23906333e-03 8.08026687e+01] [ 1.20137528e-02 1.98053865e-04 9.99927813e-01 3.03147058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:247.72, Y:80.84, Z:3.03 [[ 8.05640075e-01 -5.92327712e-01 -9.58911301e-03 2.47721044e+02] [ 5.92283483e-01 8.05697125e-01 -7.24005467e-03 8.08409452e+01] [ 1.20144058e-02 1.53404936e-04 9.99927813e-01 3.02508539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02028169299996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:247.76, Y:80.88, Z:3.03 [[ 8.04619136e-01 -5.93713836e-01 -9.58782993e-03 2.47764872e+02] [ 5.93669684e-01 8.04676247e-01 -7.24175342e-03 8.08767983e+01] [ 1.20146282e-02 1.34849417e-04 9.99927813e-01 3.02678039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08028169299996 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:247.81, Y:80.92, Z:3.03 [[ 8.03163457e-01 -5.95681590e-01 -9.58667061e-03 2.47808582e+02] [ 5.95637560e-01 8.03220662e-01 -7.24328781e-03 8.09159128e+01] [ 1.20149051e-02 1.07362989e-04 9.99927813e-01 3.02775368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:247.85, Y:80.95, Z:3.03 [[ 8.00768283e-01 -5.98897551e-01 -9.58539455e-03 2.47854806e+02] [ 5.98853731e-01 8.00825648e-01 -7.24497609e-03 8.09512293e+01] [ 1.20152282e-02 6.12977745e-05 9.99927813e-01 3.03037514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20028169299997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:247.90, Y:80.99, Z:3.03 [[ 7.99677095e-01 -6.00353804e-01 -9.58403955e-03 2.47899782e+02] [ 6.00310067e-01 7.99734523e-01 -7.24676811e-03 8.09860244e+01] [ 1.20153121e-02 4.16790423e-05 9.99927813e-01 3.03078966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26028169299997 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:247.94, Y:81.02, Z:3.02 [[ 7.97836370e-01 -6.02797890e-01 -9.58282953e-03 2.47944324e+02] [ 6.02754310e-01 7.97893917e-01 -7.24836783e-03 8.10219733e+01] [ 1.20153822e-02 6.91968033e-06 9.99927813e-01 3.02085029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32028169299997 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:247.99, Y:81.06, Z:3.02 [[ 7.97180319e-01 -6.03665241e-01 -9.58202793e-03 2.47990298e+02] [ 6.03621710e-01 7.97237905e-01 -7.24942736e-03 8.10576318e+01] [ 1.20153832e-02 -4.81927031e-06 9.99927813e-01 3.02445476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.380281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:248.04, Y:81.09, Z:3.03 [[ 7.97770348e-01 -6.02885298e-01 -9.58069216e-03 2.48036473e+02] [ 6.02841690e-01 7.97827875e-01 -7.25119225e-03 8.10930120e+01] [ 1.20153805e-02 9.14551322e-06 9.99927813e-01 3.03310569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.440281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:248.08, Y:81.13, Z:3.03 [[ 7.97304120e-01 -6.03501751e-01 -9.58004238e-03 2.48080948e+02] [ 6.03458177e-01 7.97361672e-01 -7.25205062e-03 8.11297633e+01] [ 1.20153839e-02 9.34928100e-07 9.99927813e-01 3.03271168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.500281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:248.13, Y:81.17, Z:3.03 [[ 7.97370941e-01 -6.03413483e-01 -9.57873171e-03 2.48126844e+02] [ 6.03369881e-01 7.97428473e-01 -7.25378139e-03 8.11655639e+01] [ 1.20153829e-02 4.43627443e-06 9.99927813e-01 3.03240633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.560281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:248.17, Y:81.20, Z:3.03 [[ 7.95002575e-01 -6.06530444e-01 -9.57742114e-03 2.48174540e+02] [ 6.06487047e-01 7.95060261e-01 -7.25551137e-03 8.11981133e+01] [ 1.20153155e-02 -4.04316498e-05 9.99927813e-01 3.03380481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.620281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:248.22, Y:81.23, Z:3.03 [[ 7.90000497e-01 -6.13031414e-01 -9.57604029e-03 2.48224777e+02] [ 6.12988470e-01 7.90058521e-01 -7.25733339e-03 8.12282551e+01] [ 1.20146056e-02 -1.36705295e-04 9.99927813e-01 3.03366700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.680281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:248.28, Y:81.26, Z:3.03 [[ 7.87320920e-01 -6.16469055e-01 -9.57466783e-03 2.48276968e+02] [ 6.16426342e-01 7.87379114e-01 -7.25914365e-03 8.12559087e+01] [ 1.20139309e-02 -1.86801811e-04 9.99927813e-01 3.03151940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.740281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:248.32, Y:81.29, Z:3.03 [[ 7.87787206e-01 -6.15873096e-01 -9.57330676e-03 2.48324759e+02] [ 6.15830317e-01 7.87845352e-01 -7.26093817e-03 8.12885730e+01] [ 1.20141017e-02 -1.75458341e-04 9.99927813e-01 3.03216732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.800281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:248.38, Y:81.32, Z:3.03 [[ 7.92250163e-01 -6.10121346e-01 -9.57195481e-03 2.48375286e+02] [ 6.10078124e-01 7.92307981e-01 -7.26271998e-03 8.13167823e+01] [ 1.20150767e-02 -8.57491431e-05 9.99927813e-01 3.03343398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.860281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:248.42, Y:81.35, Z:3.04 [[ 7.96048971e-01 -6.05156539e-01 -9.57073992e-03 2.48423849e+02] [ 6.05112937e-01 7.96106502e-01 -7.26432060e-03 8.13490415e+01] [ 1.20153794e-02 -8.62360141e-06 9.99927813e-01 3.03667202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.920281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:248.47, Y:81.38, Z:3.04 [[ 8.00920066e-01 -5.98694809e-01 -9.56940297e-03 2.48472462e+02] [ 5.98650722e-01 8.00977226e-01 -7.26608136e-03 8.13791223e+01] [ 1.20150390e-02 9.08203659e-05 9.99927813e-01 3.03820316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98028169299994 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:248.52, Y:81.41, Z:3.04 [[ 8.02361407e-01 -5.96761781e-01 -9.56818343e-03 2.48521335e+02] [ 5.96717537e-01 8.02418446e-01 -7.26768692e-03 8.14112817e+01] [ 1.20147647e-02 1.21808656e-04 9.99927813e-01 3.03815790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04028169299994 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:248.57, Y:81.44, Z:3.04 [[ 8.02285106e-01 -5.96864377e-01 -9.56687086e-03 2.48569313e+02] [ 5.96820119e-01 8.02342134e-01 -7.26941433e-03 8.14428365e+01] [ 1.20147580e-02 1.22441835e-04 9.99927813e-01 3.03986725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10028169299994 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:248.62, Y:81.48, Z:3.04 [[ 8.03955722e-01 -5.94612222e-01 -9.56570156e-03 2.48616117e+02] [ 5.94567786e-01 8.04012612e-01 -7.27095267e-03 8.14770094e+01] [ 1.20143420e-02 1.58066006e-04 9.99927813e-01 3.03856549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:248.66, Y:81.51, Z:3.04 [[ 8.05567927e-01 -5.92426229e-01 -9.56441719e-03 2.48664170e+02] [ 5.92381619e-01 8.05624681e-01 -7.27264177e-03 8.15100334e+01] [ 1.20138343e-02 1.92822017e-04 9.99927813e-01 3.04334533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22028169299995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:248.71, Y:81.55, Z:3.04 [[ 8.06815313e-01 -5.90726330e-01 -9.56317116e-03 2.48708746e+02] [ 5.90681581e-01 8.06871957e-01 -7.27427987e-03 8.15452509e+01] [ 1.20133633e-02 2.20211319e-04 9.99927813e-01 3.04207840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:248.75, Y:81.58, Z:3.05 [[ 8.07210722e-01 -5.90185917e-01 -9.56204646e-03 2.48754630e+02] [ 5.90141113e-01 8.07267323e-01 -7.27575798e-03 8.15805235e+01] [ 1.20131775e-02 2.30113115e-04 9.99927813e-01 3.04805614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34028169299995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:248.80, Y:81.62, Z:3.05 [[ 8.07068430e-01 -5.90380505e-01 -9.56080979e-03 2.48799795e+02] [ 5.90335695e-01 8.07125025e-01 -7.27738269e-03 8.16169601e+01] [ 1.20131937e-02 2.29258532e-04 9.99927813e-01 3.04506735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40028169299995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:248.84, Y:81.66, Z:3.04 [[ 8.06557168e-01 -5.91078804e-01 -9.55942547e-03 2.48842858e+02] [ 5.91034022e-01 8.06613785e-01 -7.27920065e-03 8.16553311e+01] [ 1.20133456e-02 2.21145777e-04 9.99927813e-01 3.04100707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46028169299996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:248.89, Y:81.69, Z:3.04 [[ 8.04480903e-01 -5.93901592e-01 -9.55899792e-03 2.48887861e+02] [ 5.93857002e-01 8.04537672e-01 -7.27976207e-03 8.16911525e+01] [ 1.20140362e-02 1.79751721e-04 9.99927813e-01 3.04227049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52028169299996 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:248.93, Y:81.73, Z:3.04 [[ 8.00373838e-01 -5.99425034e-01 -9.55762953e-03 2.48933702e+02] [ 5.99380814e-01 8.00430896e-01 -7.28155818e-03 8.17257270e+01] [ 1.20149702e-02 9.93088983e-05 9.99927813e-01 3.04026942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.98, Y:81.76, Z:3.04 [[ 7.95769230e-01 -6.05524571e-01 -9.55643195e-03 2.48981749e+02] [ 6.05480770e-01 7.95826610e-01 -7.28312957e-03 8.17570472e+01] [ 1.20153768e-02 9.45463726e-06 9.99927813e-01 3.04321460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64028169299996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:249.03, Y:81.79, Z:3.05 [[ 7.93617664e-01 -6.08341758e-01 -9.55558542e-03 2.49029158e+02] [ 6.08298147e-01 7.93675188e-01 -7.28424006e-03 8.17900645e+01] [ 1.20153385e-02 -3.17433286e-05 9.99927813e-01 3.04526690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70028169299997 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:249.08, Y:81.82, Z:3.04 [[ 7.90182483e-01 -6.12797161e-01 -9.55421429e-03 2.49081341e+02] [ 6.12753852e-01 7.90240236e-01 -7.28603803e-03 8.18168962e+01] [ 1.20149880e-02 -9.70819853e-05 9.99927813e-01 3.04170599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76028169299997 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:249.13, Y:81.84, Z:3.04 [[ 7.86955059e-01 -6.16936364e-01 -9.55290005e-03 2.49133017e+02] [ 6.16893338e-01 7.87013023e-01 -7.28776076e-03 8.18428728e+01] [ 1.20143414e-02 -1.57980209e-04 9.99927813e-01 3.04205350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82028169299997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:249.18, Y:81.87, Z:3.04 [[ 7.85618019e-01 -6.18638099e-01 -9.55149396e-03 2.49183903e+02] [ 6.18595176e-01 7.85676059e-01 -7.28960314e-03 8.18713061e+01] [ 1.20140064e-02 -1.81664506e-04 9.99927813e-01 3.04498859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.880281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:249.23, Y:81.90, Z:3.05 [[ 7.86693308e-01 -6.17270147e-01 -9.55014366e-03 2.49234701e+02] [ 6.17227102e-01 7.86751257e-01 -7.29137174e-03 8.18981876e+01] [ 1.20143336e-02 -1.58534133e-04 9.99927813e-01 3.04983080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.940281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:249.28, Y:81.93, Z:3.05 [[ 7.90509251e-01 -6.12375658e-01 -9.54872386e-03 2.49284701e+02] [ 6.12332231e-01 7.90566915e-01 -7.29323063e-03 8.19276574e+01] [ 1.20151021e-02 -8.16251026e-05 9.99927813e-01 3.05360681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.000281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.33, Y:81.96, Z:3.05 [[ 7.96442910e-01 -6.04638353e-01 -9.54743594e-03 2.49332703e+02] [ 6.04594346e-01 7.96500132e-01 -7.29491623e-03 8.19599837e+01] [ 1.20153201e-02 3.76585201e-05 9.99927813e-01 3.05445915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.060281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.38, Y:81.99, Z:3.05 [[ 8.01049109e-01 -5.98522512e-01 -9.54611565e-03 2.49377870e+02] [ 5.98478047e-01 8.01105977e-01 -7.29664356e-03 8.19946625e+01] [ 1.20146557e-02 1.31829165e-04 9.99927813e-01 3.05399871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.120281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:249.42, Y:82.03, Z:3.05 [[ 8.06970608e-01 -5.90514466e-01 -9.54473587e-03 2.49421861e+02] [ 5.90469417e-01 8.07027014e-01 -7.29844800e-03 8.20331275e+01] [ 1.20126988e-02 2.53758398e-04 9.99927813e-01 3.05403409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.180281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:249.46, Y:82.08, Z:3.06 [[ 8.12898417e-01 -5.82327302e-01 -9.54341225e-03 2.49460921e+02] [ 5.82281664e-01 8.12954347e-01 -7.30017835e-03 8.20775990e+01] [ 1.20094516e-02 3.77349458e-04 9.99927813e-01 3.05798065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.240281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:249.50, Y:82.12, Z:3.06 [[ 8.15247565e-01 -5.79033984e-01 -9.54212889e-03 2.49500855e+02] [ 5.78988101e-01 8.15303294e-01 -7.30185545e-03 8.21186078e+01] [ 1.20077516e-02 4.28040793e-04 9.99927813e-01 3.05532319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.300281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.54, Y:82.17, Z:3.06 [[ 8.16171192e-01 -5.77731387e-01 -9.54099500e-03 2.49537054e+02] [ 5.77685397e-01 8.16226833e-01 -7.30333676e-03 8.21664546e+01] [ 1.20069830e-02 4.49079583e-04 9.99927813e-01 3.05992419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.360281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.57, Y:82.22, Z:3.06 [[ 8.16480205e-01 -5.77294613e-01 -9.53963802e-03 2.49570823e+02] [ 5.77248573e-01 8.16535805e-01 -7.30510882e-03 8.22158022e+01] [ 1.20066560e-02 4.57734321e-04 9.99927813e-01 3.06102364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.420281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.61, Y:82.26, Z:3.06 [[ 8.15529257e-01 -5.78637228e-01 -9.53887104e-03 2.49609741e+02] [ 5.78591268e-01 8.15584922e-01 -7.30611018e-03 8.22609159e+01] [ 1.20073467e-02 4.39239112e-04 9.99927813e-01 3.06109402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48028169299994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:249.64, Y:82.31, Z:3.07 [[ 8.10599656e-01 -5.85523042e-01 -9.53759533e-03 2.49641270e+02] [ 5.85477535e-01 8.10655693e-01 -7.30777515e-03 8.23130164e+01] [ 1.20105767e-02 3.39632213e-04 9.99927813e-01 3.06513232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.68, Y:82.36, Z:3.06 [[ 8.07794056e-01 -5.89387665e-01 -9.53645236e-03 2.49681331e+02] [ 5.89342409e-01 8.07850296e-01 -7.30926639e-03 8.23557812e+01] [ 1.20120173e-02 2.84146142e-04 9.99927813e-01 3.05990483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.72, Y:82.40, Z:3.06 [[ 8.04226318e-01 -5.94246674e-01 -9.53520597e-03 2.49718971e+02] [ 5.94201739e-01 8.04282814e-01 -7.31089199e-03 8.24014188e+01] [ 1.20134755e-02 2.13775781e-04 9.99927813e-01 3.05600702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.76, Y:82.44, Z:3.06 [[ 8.03031823e-01 -5.95859874e-01 -9.53425009e-03 2.49763983e+02] [ 5.95815038e-01 8.03088397e-01 -7.31213836e-03 8.24383539e+01] [ 1.20138555e-02 1.91230222e-04 9.99927813e-01 3.05691068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.81, Y:82.48, Z:3.06 [[ 7.98736443e-01 -6.01605532e-01 -9.53300199e-03 2.49808868e+02] [ 6.01561083e-01 7.98793323e-01 -7.31376517e-03 8.24760543e+01] [ 1.20148999e-02 1.07087782e-04 9.99927813e-01 3.06240127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.85, Y:82.51, Z:3.06 [[ 7.97067418e-01 -6.03815102e-01 -9.53177699e-03 2.49852816e+02] [ 6.03770791e-01 7.97124405e-01 -7.31536133e-03 8.25146057e+01] [ 1.20151377e-02 7.58276279e-05 9.99927813e-01 3.05966222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.90, Y:82.55, Z:3.06 [[ 7.97261189e-01 -6.03559247e-01 -9.53056464e-03 2.49897716e+02] [ 6.03514899e-01 7.97318148e-01 -7.31694045e-03 8.25505909e+01] [ 1.20150992e-02 8.16748888e-05 9.99927813e-01 3.06381992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.94, Y:82.59, Z:3.07 [[ 7.98075486e-01 -6.02482115e-01 -9.52996017e-03 2.49939055e+02] [ 6.02437681e-01 7.98132377e-01 -7.31772766e-03 8.25917640e+01] [ 1.20149698e-02 9.88919623e-05 9.99927813e-01 3.06562556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96028169299996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:249.98, Y:82.63, Z:3.06 [[ 7.98571005e-01 -6.01825187e-01 -9.52862569e-03 2.49982383e+02] [ 6.01780686e-01 7.98627843e-01 -7.31946491e-03 8.26315142e+01] [ 1.20148641e-02 1.10969547e-04 9.99927813e-01 3.06458391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02028169299996 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:250.02, Y:82.67, Z:3.07 [[ 7.96644726e-01 -6.04372741e-01 -9.52742282e-03 2.50022786e+02] [ 6.04328402e-01 7.96701691e-01 -7.32103030e-03 8.26737520e+01] [ 1.20151450e-02 7.45679694e-05 9.99927813e-01 3.07004756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:250.07, Y:82.71, Z:3.07 [[ 7.93247995e-01 -6.08824161e-01 -9.52680106e-03 2.50065584e+02] [ 6.08780133e-01 7.93305200e-01 -7.32183930e-03 8.27120106e+01] [ 1.20153735e-02 8.30712351e-06 9.99927813e-01 3.06635189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14028169299996 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:250.11, Y:82.75, Z:3.07 [[ 7.92121622e-01 -6.10288946e-01 -9.52567386e-03 2.50107401e+02] [ 6.10245006e-01 7.92178895e-01 -7.32330550e-03 8.27532539e+01] [ 1.20153702e-02 -1.20462682e-05 9.99927813e-01 3.06551068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20028169299997 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:250.15, Y:82.79, Z:3.07 [[ 7.91251607e-01 -6.11416537e-01 -9.52434479e-03 2.50151457e+02] [ 6.11372657e-01 7.91308927e-01 -7.32503361e-03 8.27903807e+01] [ 1.20153457e-02 -2.69793641e-05 9.99927813e-01 3.06875513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26028169299997 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:250.20, Y:82.83, Z:3.07 [[ 7.87797722e-01 -6.15860424e-01 -9.52297925e-03 2.50196995e+02] [ 6.15816847e-01 7.87855272e-01 -7.32680846e-03 8.28283080e+01] [ 1.20150208e-02 -9.23680421e-05 9.99927813e-01 3.07370029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32028169299997 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:250.25, Y:82.86, Z:3.07 [[ 7.83479462e-01 -6.21344725e-01 -9.52179255e-03 2.50245158e+02] [ 6.21301532e-01 7.83537301e-01 -7.32835035e-03 8.28591783e+01] [ 1.20141115e-02 -1.74292310e-04 9.99927813e-01 3.07307044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.380281693 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:250.29, Y:82.89, Z:3.07 [[ 7.82168158e-01 -6.22994648e-01 -9.52059501e-03 2.50293017e+02] [ 6.22951558e-01 7.82226073e-01 -7.32990580e-03 8.28909095e+01] [ 1.20137497e-02 -1.97650571e-04 9.99927813e-01 3.06666213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.440281693 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:250.34, Y:82.92, Z:3.07 [[ 7.82277238e-01 -6.22857687e-01 -9.51974746e-03 2.50343174e+02] [ 6.22814572e-01 7.82335136e-01 -7.33100640e-03 8.29203027e+01] [ 1.20138066e-02 -1.94158006e-04 9.99927813e-01 3.06648491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.500281693 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:250.40, Y:82.95, Z:3.07 [[ 7.83043578e-01 -6.21894006e-01 -9.51841793e-03 2.50396294e+02] [ 6.21850800e-01 7.83101407e-01 -7.33273222e-03 8.29483309e+01] [ 1.20140687e-02 -1.77186927e-04 9.99927813e-01 3.07184311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.560281693 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:250.45, Y:82.98, Z:3.07 [[ 7.86045605e-01 -6.18095242e-01 -9.51727294e-03 2.50447017e+02] [ 6.18051739e-01 7.86103211e-01 -7.33421802e-03 8.29778668e+01] [ 1.20148041e-02 -1.17137247e-04 9.99927813e-01 3.07228476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.620281693 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:250.50, Y:83.01, Z:3.07 [[ 7.88890147e-01 -6.14460562e-01 -9.51596080e-03 2.50495144e+02] [ 6.14416773e-01 7.88947536e-01 -7.33592009e-03 8.30109903e+01] [ 1.20152274e-02 -5.95308454e-05 9.99927813e-01 3.07237728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.680281693 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:250.54, Y:83.04, Z:3.07 [[ 7.90194017e-01 -6.12782904e-01 -9.51464222e-03 2.50542431e+02] [ 6.12738972e-01 7.90251296e-01 -7.33762988e-03 8.30443648e+01] [ 1.20153325e-02 -3.18408651e-05 9.99927813e-01 3.07417458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.740281693 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:250.59, Y:83.07, Z:3.07 [[ 7.89264935e-01 -6.13979120e-01 -9.51324921e-03 2.50591742e+02] [ 6.13935253e-01 7.89322265e-01 -7.33943548e-03 8.30739904e+01] [ 1.20152796e-02 -4.77599922e-05 9.99927813e-01 3.07274667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.800281693 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:250.64, Y:83.11, Z:3.08 [[ 7.89282722e-01 -6.13956274e-01 -9.51199537e-03 2.50639029e+02] [ 6.13912386e-01 7.89340035e-01 -7.34106011e-03 8.31071587e+01] [ 1.20152887e-02 -4.53598703e-05 9.99927813e-01 3.07581640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.860281693 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:250.69, Y:83.14, Z:3.07 [[ 7.89754001e-01 -6.13349954e-01 -9.51061625e-03 2.50685370e+02] [ 6.13306000e-01 7.89811264e-01 -7.34284637e-03 8.31412216e+01] [ 1.20153263e-02 -3.38757123e-05 9.99927813e-01 3.07318398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.920281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:250.73, Y:83.18, Z:3.08 [[ 7.90285749e-01 -6.12664677e-01 -9.50942075e-03 2.50731623e+02] [ 6.12620655e-01 7.90342959e-01 -7.34439429e-03 8.31754568e+01] [ 1.20153547e-02 -2.14974221e-05 9.99927813e-01 3.07520234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98028169299994 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:250.78, Y:83.21, Z:3.08 [[ 7.92643193e-01 -6.09611652e-01 -9.50804022e-03 2.50778323e+02] [ 6.09567388e-01 7.92700217e-01 -7.34618109e-03 8.32098945e+01] [ 1.20153431e-02 2.71091901e-05 9.99927813e-01 3.08184523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04028169299994 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:250.82, Y:83.24, Z:3.08 [[ 7.94959779e-01 -6.06587646e-01 -9.50672120e-03 2.50823010e+02] [ 6.06543145e-01 7.95016617e-01 -7.34788765e-03 8.32449592e+01] [ 1.20151392e-02 7.50385681e-05 9.99927813e-01 3.08069783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:250.87, Y:83.28, Z:3.08 [[ 8.00345582e-01 -5.99463589e-01 -9.50549664e-03 2.50867357e+02] [ 5.99418563e-01 8.00402006e-01 -7.34947144e-03 8.32823715e+01] [ 1.20139591e-02 1.84345862e-04 9.99927813e-01 3.08260571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16028169299994 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:250.91, Y:83.32, Z:3.08 [[ 8.03024075e-01 -5.95870797e-01 -9.50414310e-03 2.50910267e+02] [ 5.95825498e-01 8.03080279e-01 -7.35122139e-03 8.33219107e+01] [ 1.20129680e-02 2.40396955e-04 9.99927813e-01 3.08243659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22028169299995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:250.95, Y:83.36, Z:3.09 [[ 8.02380227e-01 -5.96737520e-01 -9.50279473e-03 2.50951319e+02] [ 5.96692261e-01 8.02436464e-01 -7.35296399e-03 8.33614725e+01] [ 1.20131785e-02 2.29628840e-04 9.99927813e-01 3.08694297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28028169299995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:250.99, Y:83.40, Z:3.09 [[ 8.02675152e-01 -5.96340775e-01 -9.50157262e-03 2.50991686e+02] [ 5.96295470e-01 8.02731352e-01 -7.35454287e-03 8.34037856e+01] [ 1.20130240e-02 2.37564109e-04 9.99927813e-01 3.08951353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34028169299995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:251.03, Y:83.45, Z:3.08 [[ 8.03370179e-01 -5.95404151e-01 -9.50017949e-03 2.51030308e+02] [ 5.95358758e-01 8.03426308e-01 -7.35634199e-03 8.34466091e+01] [ 1.20126907e-02 2.53850710e-04 9.99927813e-01 3.08323367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40028169299995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:251.07, Y:83.49, Z:3.08 [[ 8.03865354e-01 -5.94735452e-01 -9.49923448e-03 2.51071248e+02] [ 5.94689998e-01 8.03921434e-01 -7.35756208e-03 8.34893512e+01] [ 1.20124412e-02 2.65389506e-04 9.99927813e-01 3.07791103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:251.11, Y:83.53, Z:3.08 [[ 8.01094340e-01 -5.98462736e-01 -9.49798951e-03 2.51113870e+02] [ 5.98417524e-01 8.01150616e-01 -7.35916889e-03 8.35308714e+01] [ 1.20135085e-02 2.11625180e-04 9.99927813e-01 3.08246606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:251.16, Y:83.57, Z:3.09 [[ 7.97235505e-01 -6.03593705e-01 -9.49677921e-03 2.51158515e+02] [ 6.03548837e-01 7.97292055e-01 -7.36073041e-03 8.35687309e+01] [ 1.20145971e-02 1.36465584e-04 9.99927813e-01 3.08639019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58028169299996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:251.20, Y:83.61, Z:3.09 [[ 7.93758912e-01 -6.08158387e-01 -9.49557835e-03 2.51202417e+02] [ 6.08113826e-01 7.93815704e-01 -7.36227923e-03 8.36060414e+01] [ 1.20151711e-02 6.94822756e-05 9.99927813e-01 3.08636442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64028169299996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:251.25, Y:83.64, Z:3.08 [[ 7.91156125e-01 -6.11540552e-01 -9.49421240e-03 2.51248011e+02] [ 6.11496212e-01 7.91213090e-01 -7.36404030e-03 8.36406607e+01] [ 1.20153544e-02 2.04306691e-05 9.99927813e-01 3.07861891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70028169299997 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:251.29, Y:83.68, Z:3.08 [[ 7.92564258e-01 -6.09714504e-01 -9.49321941e-03 2.51293153e+02] [ 6.09670018e-01 7.92621108e-01 -7.36532017e-03 8.36768994e+01] [ 1.20152686e-02 4.97582657e-05 9.99927813e-01 3.07808126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76028169299997 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:251.34, Y:83.71, Z:3.09 [[ 7.96230373e-01 -6.04919083e-01 -9.49187881e-03 2.51340436e+02] [ 6.04874234e-01 7.96286938e-01 -7.36704744e-03 8.37117537e+01] [ 1.20147267e-02 1.24474004e-04 9.99927813e-01 3.08846927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82028169299997 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:251.39, Y:83.75, Z:3.09 [[ 7.96911794e-01 -6.04021126e-01 -9.49065753e-03 2.51385578e+02] [ 6.03976195e-01 7.96968293e-01 -7.36862042e-03 8.37488724e+01] [ 1.20145555e-02 1.40009295e-04 9.99927813e-01 3.08965071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.880281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:251.43, Y:83.78, Z:3.08 [[ 7.96644361e-01 -6.04373822e-01 -9.48925005e-03 2.51433182e+02] [ 6.04328894e-01 7.96700863e-01 -7.37043252e-03 8.37822345e+01] [ 1.20145902e-02 1.36985515e-04 9.99927813e-01 3.08196751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.940281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:251.48, Y:83.82, Z:3.09 [[ 7.96422050e-01 -6.04666752e-01 -9.48881373e-03 2.51478574e+02] [ 6.04621838e-01 7.96478563e-01 -7.37099420e-03 8.38194980e+01] [ 1.20146318e-02 1.33278310e-04 9.99927813e-01 3.08723682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.000281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.52, Y:83.86, Z:3.09 [[ 7.97258662e-01 -6.03563263e-01 -9.48757510e-03 2.51521842e+02] [ 6.03518252e-01 7.97315097e-01 -7.37258816e-03 8.38573330e+01] [ 1.20144102e-02 1.51935028e-04 9.99927813e-01 3.09364591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.060281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:251.56, Y:83.90, Z:3.09 [[ 7.95852130e-01 -6.05416704e-01 -9.48696177e-03 2.51564761e+02] [ 6.05371815e-01 7.95908663e-01 -7.37337730e-03 8.38963377e+01] [ 1.20147208e-02 1.24978763e-04 9.99927813e-01 3.08686161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.120281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.61, Y:83.93, Z:3.09 [[ 7.93809836e-01 -6.08092072e-01 -9.48557704e-03 2.51608805e+02] [ 6.08047352e-01 7.93866503e-01 -7.37515828e-03 8.39335664e+01] [ 1.20150572e-02 8.67931818e-05 9.99927813e-01 3.08753417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.180281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:251.65, Y:83.97, Z:3.09 [[ 7.90273866e-01 -6.12680396e-01 -9.48419771e-03 2.51654515e+02] [ 6.12635984e-01 7.90330774e-01 -7.37693163e-03 8.39701917e+01] [ 1.20153547e-02 1.94354821e-05 9.99927813e-01 3.09211848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.240281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:251.70, Y:84.01, Z:3.09 [[ 7.89900034e-01 -6.13162303e-01 -9.48297508e-03 2.51698809e+02] [ 6.13117907e-01 7.89956955e-01 -7.37850297e-03 8.40069807e+01] [ 1.20153620e-02 1.40979149e-05 9.99927813e-01 3.08634927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.300281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:251.74, Y:84.05, Z:3.09 [[ 7.93881446e-01 -6.07998628e-01 -9.48254543e-03 2.51742786e+02] [ 6.07953855e-01 7.93938070e-01 -7.37905509e-03 8.40466345e+01] [ 1.20150092e-02 9.31448775e-05 9.99927813e-01 3.09322514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.360281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:251.78, Y:84.09, Z:3.10 [[ 7.96979667e-01 -6.03931714e-01 -9.48134514e-03 2.51783954e+02] [ 6.03886634e-01 7.97036047e-01 -7.38059702e-03 8.40897572e+01] [ 1.20143505e-02 1.56528153e-04 9.99927813e-01 3.09873373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.420281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:251.82, Y:84.13, Z:3.10 [[ 7.97927668e-01 -6.02678658e-01 -9.48011969e-03 2.51824552e+02] [ 6.02633470e-01 7.97983962e-01 -7.38217073e-03 8.41304555e+01] [ 1.20140602e-02 1.77400848e-04 9.99927813e-01 3.09909144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:251.87, Y:84.17, Z:3.10 [[ 7.95579337e-01 -6.05775255e-01 -9.47935778e-03 2.51865474e+02] [ 6.05730275e-01 7.95635798e-01 -7.38314896e-03 8.41724806e+01] [ 1.20146453e-02 1.31946759e-04 9.99927813e-01 3.09745607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:251.91, Y:84.21, Z:3.09 [[ 7.92964680e-01 -6.09193881e-01 -9.47797426e-03 2.51907892e+02] [ 6.09149123e-01 7.93021317e-01 -7.38492461e-03 8.42108015e+01] [ 1.20150865e-02 8.24846713e-05 9.99927813e-01 3.09351496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60028169299994 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:251.95, Y:84.25, Z:3.10 [[ 7.93920282e-01 -6.07947997e-01 -9.47728713e-03 2.51950944e+02] [ 6.07903139e-01 7.93976840e-01 -7.38580631e-03 8.42501201e+01] [ 1.20149326e-02 1.02468828e-04 9.99927813e-01 3.09663653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66028169299994 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:252.00, Y:84.29, Z:3.10 [[ 7.93341270e-01 -6.08703405e-01 -9.47594630e-03 2.51996407e+02] [ 6.08658581e-01 7.93397855e-01 -7.38752619e-03 8.42855682e+01] [ 1.20150078e-02 9.32133858e-05 9.99927813e-01 3.09585128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72028169299995 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:252.04, Y:84.32, Z:3.09 [[ 7.92568729e-01 -6.09708982e-01 -9.47456957e-03 2.52043764e+02] [ 6.09664209e-01 7.92625353e-01 -7.38929144e-03 8.43202735e+01] [ 1.20151014e-02 8.02153644e-05 9.99927813e-01 3.09199993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78028169299995 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:252.09, Y:84.35, Z:3.10 [[ 7.91368193e-01 -6.11266422e-01 -9.47335912e-03 2.52092567e+02] [ 6.11221741e-01 7.91424891e-01 -7.39084295e-03 8.43497518e+01] [ 1.20152263e-02 5.85549734e-05 9.99927813e-01 3.09504307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84028169299995 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:252.14, Y:84.38, Z:3.10 [[ 7.89407057e-01 -6.13797009e-01 -9.47257563e-03 2.52140882e+02] [ 6.13752499e-01 7.89463888e-01 -7.39184700e-03 8.43821218e+01] [ 1.20153500e-02 2.13592230e-05 9.99927813e-01 3.10138999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90028169299995 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:252.19, Y:84.41, Z:3.10 [[ 7.89837780e-01 -6.13242674e-01 -9.47127644e-03 2.52190400e+02] [ 6.13198103e-01 7.89894564e-01 -7.39351128e-03 8.44124049e+01] [ 1.20153264e-02 3.19057863e-05 9.99927813e-01 3.09673903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96028169299996 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:252.24, Y:84.45, Z:3.10 [[ 7.92137025e-01 -6.10269820e-01 -9.46994463e-03 2.52236394e+02] [ 6.10225016e-01 7.92193625e-01 -7.39521673e-03 8.44475312e+01] [ 1.20151074e-02 7.92278614e-05 9.99927813e-01 3.09949254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02028169299996 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:252.28, Y:84.48, Z:3.10 [[ 7.96007431e-01 -6.05212785e-01 -9.46856109e-03 2.52281732e+02] [ 6.05167601e-01 7.96063728e-01 -7.39698774e-03 8.44822162e+01] [ 1.20143296e-02 1.57990809e-04 9.99927813e-01 3.09852224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08028169299996 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:252.32, Y:84.52, Z:3.11 [[ 8.00963085e-01 -5.98638873e-01 -9.46762153e-03 2.52324284e+02] [ 5.98593212e-01 8.01018997e-01 -7.39819012e-03 8.45234977e+01] [ 1.20125889e-02 2.58423195e-04 9.99927813e-01 3.10767380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14028169299996 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:252.37, Y:84.56, Z:3.11 [[ 8.05737839e-01 -5.92196691e-01 -9.46639575e-03 2.52366196e+02] [ 5.92150566e-01 8.05793368e-01 -7.39975824e-03 8.45630331e+01] [ 1.20100713e-02 3.56733623e-04 9.99927813e-01 3.11280907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20028169299997 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:252.40, Y:84.61, Z:3.10 [[ 8.11323627e-01 -5.84520636e-01 -9.46564683e-03 2.52401262e+02] [ 5.84473974e-01 8.11378705e-01 -7.40071612e-03 8.46110016e+01] [ 1.20060956e-02 4.71951628e-04 9.99927813e-01 3.10365452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26028169299997 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:252.44, Y:84.65, Z:3.11 [[ 8.10327122e-01 -5.85901333e-01 -9.46490048e-03 2.52442990e+02] [ 5.85854753e-01 8.10382270e-01 -7.40167052e-03 8.46524053e+01] [ 1.20068362e-02 4.52717441e-04 9.99927813e-01 3.10777141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32028169299997 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:252.48, Y:84.69, Z:3.10 [[ 8.06574822e-01 -5.91056256e-01 -9.46356779e-03 2.52484545e+02] [ 5.91010009e-01 8.06630249e-01 -7.40337406e-03 8.46940558e+01] [ 1.20094106e-02 3.78311830e-04 9.99927813e-01 3.10312089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.380281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:252.52, Y:84.74, Z:3.10 [[ 8.03583129e-01 -5.95117319e-01 -9.46213165e-03 2.52524443e+02] [ 5.95071331e-01 8.03638771e-01 -7.40520912e-03 8.47355338e+01] [ 1.20111040e-02 3.20057835e-04 9.99927813e-01 3.10187152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.440281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:252.57, Y:84.77, Z:3.10 [[ 8.03326193e-01 -5.95464111e-01 -9.46150698e-03 2.52567762e+02] [ 5.95418137e-01 8.03381848e-01 -7.40600716e-03 8.47736591e+01] [ 1.20112144e-02 3.15886677e-04 9.99927813e-01 3.10268717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.500281693 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:252.61, Y:84.82, Z:3.10 [[ 8.03428436e-01 -5.95326174e-01 -9.46021618e-03 2.52609018e+02] [ 5.95280171e-01 8.03484066e-01 -7.40765562e-03 8.48156097e+01] [ 1.20111042e-02 3.20042054e-04 9.99927813e-01 3.10113818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.560281693 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:252.65, Y:84.86, Z:3.10 [[ 8.03824759e-01 -5.94790960e-01 -9.45887466e-03 2.52649290e+02] [ 5.94744901e-01 8.03880342e-01 -7.40936823e-03 8.48575425e+01] [ 1.20108286e-02 3.30216158e-04 9.99927813e-01 3.10396547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.620281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:252.69, Y:84.90, Z:3.11 [[ 8.02005342e-01 -5.97241984e-01 -9.45748938e-03 2.52692105e+02] [ 5.97196074e-01 8.02061048e-01 -7.41113600e-03 8.48972407e+01] [ 1.20117254e-02 2.95795134e-04 9.99927813e-01 3.10738223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.680281693 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:252.73, Y:84.94, Z:3.11 [[ 7.92029040e-01 -6.10410176e-01 -9.45607683e-03 2.52734587e+02] [ 6.10365170e-01 7.92085480e-01 -7.41293788e-03 8.49358641e+01] [ 1.20149539e-02 9.96021227e-05 9.99927813e-01 3.10720434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.740281693 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:252.78, Y:84.97, Z:3.11 [[ 7.87418318e-01 -6.16346485e-01 -9.45531441e-03 2.52779175e+02] [ 6.16301893e-01 7.87475086e-01 -7.41391023e-03 8.49729613e+01] [ 1.20153620e-02 1.05205524e-05 9.99927813e-01 3.11003000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.800281693 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:252.82, Y:85.01, Z:3.11 [[ 7.84471166e-01 -6.20093229e-01 -9.45396187e-03 2.52822731e+02] [ 6.20048887e-01 7.84528129e-01 -7.41563454e-03 8.50090837e+01] [ 1.20152838e-02 -4.45670601e-05 9.99927813e-01 3.11167886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.860281693 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:252.87, Y:85.05, Z:3.11 [[ 7.85291186e-01 -6.19054435e-01 -9.45304922e-03 2.52867009e+02] [ 6.19010004e-01 7.85348079e-01 -7.41679776e-03 8.50473304e+01] [ 1.20153356e-02 -2.71861294e-05 9.99927813e-01 3.11189309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.920281693 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:252.91, Y:85.09, Z:3.11 [[ 7.86557706e-01 -6.17444443e-01 -9.45174020e-03 2.52911252e+02] [ 6.17399875e-01 7.86614493e-01 -7.41846556e-03 8.50856039e+01] [ 1.20153662e-02 -4.51969610e-07 9.99927813e-01 3.11200920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98028169299994 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:252.96, Y:85.12, Z:3.11 [[ 7.85359862e-01 -6.18967347e-01 -9.45038565e-03 2.52955566e+02] [ 6.18922869e-01 7.85416719e-01 -7.42019072e-03 8.51226031e+01] [ 1.20153467e-02 -2.15398376e-05 9.99927813e-01 3.11066188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04028169299994 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:253.00, Y:85.16, Z:3.11 [[ 7.83274071e-01 -6.21604734e-01 -9.44903100e-03 2.53001394e+02] [ 6.21560427e-01 7.83331061e-01 -7.42191536e-03 8.51587779e+01] [ 1.20152172e-02 -5.97498800e-05 9.99927813e-01 3.11066903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10028169299994 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:253.05, Y:85.19, Z:3.11 [[ 7.80288086e-01 -6.25348898e-01 -9.44765719e-03 2.53048042e+02] [ 6.25304843e-01 7.80345271e-01 -7.42366372e-03 8.51913580e+01] [ 1.20148145e-02 -1.15069450e-04 9.99927813e-01 3.11235107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16028169299994 meters Centerline goodness : 0.999380 with order 1 Centerline is valid? [True, True] Translation: X:253.09, Y:85.23, Z:3.11 [[ 7.82035962e-01 -6.23161704e-01 -9.44689291e-03 2.53093181e+02] [ 6.23117478e-01 7.82093015e-01 -7.42463617e-03 8.52284173e+01] [ 1.20150979e-02 -8.01915838e-05 9.99927813e-01 3.11250099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22028169299995 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:253.14, Y:85.26, Z:3.11 [[ 7.82372041e-01 -6.22739731e-01 -9.44545736e-03 2.53138462e+02] [ 6.22695451e-01 7.82429053e-01 -7.42646199e-03 8.52622332e+01] [ 1.20151532e-02 -7.13871032e-05 9.99927813e-01 3.11194631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28028169299995 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:253.19, Y:85.30, Z:3.11 [[ 7.79343498e-01 -6.26525743e-01 -9.44483583e-03 2.53185942e+02] [ 6.26481731e-01 7.79400716e-01 -7.42725236e-03 8.52952203e+01] [ 1.20146766e-02 -1.28636267e-04 9.99927813e-01 3.11465507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34028169299995 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:253.24, Y:85.32, Z:3.11 [[ 7.73573453e-01 -6.33636279e-01 -9.44341974e-03 2.53236339e+02] [ 6.33592771e-01 7.73631056e-01 -7.42905242e-03 8.53227129e+01] [ 1.20130399e-02 -2.36364736e-04 9.99927813e-01 3.11247408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40028169299995 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:253.28, Y:85.35, Z:3.12 [[ 7.72222130e-01 -6.35282471e-01 -9.44266743e-03 2.53284674e+02] [ 6.35239073e-01 7.72279816e-01 -7.43000852e-03 8.53549382e+01] [ 1.20125356e-02 -2.60734302e-04 9.99927813e-01 3.11870083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46028169299996 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:253.33, Y:85.39, Z:3.12 [[ 7.78487746e-01 -6.27588792e-01 -9.44126933e-03 2.53333368e+02] [ 6.27544803e-01 7.78544982e-01 -7.43178465e-03 8.53851413e+01] [ 1.20145576e-02 -1.39266215e-04 9.99927813e-01 3.12284133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52028169299996 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:253.38, Y:85.42, Z:3.12 [[ 7.85797835e-01 -6.18411384e-01 -9.44050897e-03 2.53380185e+02] [ 6.18366715e-01 7.85854541e-01 -7.43275040e-03 8.54191710e+01] [ 1.20153643e-02 2.94265111e-06 9.99927813e-01 3.11921696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58028169299996 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:253.43, Y:85.46, Z:3.11 [[ 7.89679042e-01 -6.13447564e-01 -9.43914966e-03 2.53425625e+02] [ 6.13402518e-01 7.89735449e-01 -7.43447624e-03 8.54561560e+01] [ 1.20150924e-02 8.08519067e-05 9.99927813e-01 3.11438973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64028169299996 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:253.47, Y:85.49, Z:3.12 [[ 7.90383439e-01 -6.12539750e-01 -9.43786891e-03 2.53470331e+02] [ 6.12494620e-01 7.90439780e-01 -7.43610176e-03 8.54946362e+01] [ 1.20149749e-02 9.67277597e-05 9.99927813e-01 3.11802137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70028169299997 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:253.52, Y:85.53, Z:3.11 [[ 7.87862247e-01 -6.15779205e-01 -9.43667777e-03 2.53516781e+02] [ 6.15734288e-01 7.87918758e-01 -7.43761306e-03 8.55299115e+01] [ 1.20152629e-02 4.93284637e-05 9.99927813e-01 3.11423336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76028169299997 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:253.56, Y:85.57, Z:3.11 [[ 7.85218384e-01 -6.19147045e-01 -9.43533516e-03 2.53561121e+02] [ 6.19102350e-01 7.85275071e-01 -7.43931590e-03 8.55667227e+01] [ 1.20153639e-02 4.94401712e-08 9.99927813e-01 3.11434140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82028169299997 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:253.61, Y:85.60, Z:3.12 [[ 7.83010107e-01 -6.21937434e-01 -9.43399987e-03 2.53605823e+02] [ 6.21892920e-01 7.83066937e-01 -7.44100883e-03 8.56026225e+01] [ 1.20152953e-02 -4.05526057e-05 9.99927813e-01 3.12282549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.880281693 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:253.65, Y:85.64, Z:3.12 [[ 7.81107490e-01 -6.24325320e-01 -9.43316440e-03 2.53651591e+02] [ 6.24280967e-01 7.81164444e-01 -7.44206784e-03 8.56381186e+01] [ 1.20151240e-02 -7.58900689e-05 9.99927813e-01 3.12376859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.940281693 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:253.70, Y:85.67, Z:3.12 [[ 7.76988769e-01 -6.29443797e-01 -9.43181165e-03 2.53700409e+02] [ 6.29399799e-01 7.77045998e-01 -7.44378186e-03 8.56697683e+01] [ 1.20143938e-02 -1.52645450e-04 9.99927813e-01 3.12288940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.000281693 meters Centerline goodness : 0.999408 with order 1 Centerline is valid? [True, True] Translation: X:253.75, Y:85.70, Z:3.12 [[ 7.75533666e-01 -6.31235771e-01 -9.43046960e-03 2.53747102e+02] [ 6.31191885e-01 7.75590981e-01 -7.44548171e-03 8.57037054e+01] [ 1.20140416e-02 -1.78214156e-04 9.99927813e-01 3.12312655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.060281693 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:253.79, Y:85.74, Z:3.13 [[ 7.76093996e-01 -6.30546748e-01 -9.42914025e-03 2.53794054e+02] [ 6.30502790e-01 7.76151255e-01 -7.44716485e-03 8.57383648e+01] [ 1.20142246e-02 -1.65399314e-04 9.99927813e-01 3.12723108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.120281693 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:253.84, Y:85.77, Z:3.13 [[ 7.77830226e-01 -6.28403738e-01 -9.42770468e-03 2.53841322e+02] [ 6.28359600e-01 7.77887348e-01 -7.44898176e-03 8.57707615e+01] [ 1.20146602e-02 -1.29945573e-04 9.99927813e-01 3.12555637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.180281693 meters Centerline goodness : 0.999470 with order 1 Centerline is valid? [True, True] Translation: X:253.89, Y:85.81, Z:3.13 [[ 7.80584958e-01 -6.24978608e-01 -9.42673039e-03 2.53886274e+02] [ 6.24934205e-01 7.80641873e-01 -7.45021453e-03 8.58069575e+01] [ 1.20151252e-02 -7.55608671e-05 9.99927813e-01 3.12610589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.240281693 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:253.93, Y:85.84, Z:3.13 [[ 7.83848992e-01 -6.20879956e-01 -9.42539356e-03 2.53931687e+02] [ 6.20835235e-01 7.83905658e-01 -7.45190538e-03 8.58424158e+01] [ 1.20153580e-02 -1.04478978e-05 9.99927813e-01 3.12873922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.300281693 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:253.98, Y:85.88, Z:3.12 [[ 7.84426215e-01 -6.20150547e-01 -9.42405966e-03 2.53978557e+02] [ 6.20105753e-01 7.84482823e-01 -7.45359193e-03 8.58778429e+01] [ 1.20153620e-02 2.87929660e-06 9.99927813e-01 3.12426596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.360281693 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:254.03, Y:85.91, Z:3.12 [[ 7.83469991e-01 -6.21358177e-01 -9.42277618e-03 2.54026278e+02] [ 6.21313450e-01 7.83526653e-01 -7.45521414e-03 8.59089625e+01] [ 1.20153545e-02 -1.35610238e-05 9.99927813e-01 3.12189668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.420281693 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:254.08, Y:85.94, Z:3.13 [[ 7.80906860e-01 -6.24576420e-01 -9.42183074e-03 2.54075169e+02] [ 6.24531913e-01 7.80963694e-01 -7.45640879e-03 8.59395984e+01] [ 1.20152048e-02 -6.14732017e-05 9.99927813e-01 3.13285213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48028169299994 meters Centerline goodness : 0.999471 with order 1 Centerline is valid? [True, True] Translation: X:254.12, Y:85.97, Z:3.13 [[ 7.80191607e-01 -6.25469661e-01 -9.42122492e-03 2.54124079e+02] [ 6.25425210e-01 7.80248485e-01 -7.45717417e-03 8.59713729e+01] [ 1.20151327e-02 -7.42468696e-05 9.99927813e-01 3.13454870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54028169299994 meters Centerline goodness : 0.999279 with order 1 Centerline is valid? [True, True] Translation: X:254.17, Y:86.00, Z:3.13 [[ 7.80335923e-01 -6.25289623e-01 -9.41988182e-03 2.54173652e+02] [ 6.25245139e-01 7.80392774e-01 -7.45887038e-03 8.60013685e+01] [ 1.20151620e-02 -6.93108152e-05 9.99927813e-01 3.12925527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60028169299994 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:254.22, Y:86.03, Z:3.13 [[ 7.82914868e-01 -6.22057551e-01 -9.41870042e-03 2.54222324e+02] [ 6.22012814e-01 7.82971521e-01 -7.46036189e-03 8.60325124e+01] [ 1.20153486e-02 -1.77241013e-05 9.99927813e-01 3.13288248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66028169299994 meters Centerline goodness : 0.999366 with order 1 Centerline is valid? [True, True] Translation: X:254.27, Y:86.07, Z:3.13 [[ 7.85168608e-01 -6.19210441e-01 -9.41737274e-03 2.54268768e+02] [ 6.19165478e-01 7.85225082e-01 -7.46203748e-03 8.60653705e+01] [ 1.20153288e-02 2.80454929e-05 9.99927813e-01 3.12920613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72028169299995 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:254.31, Y:86.10, Z:3.13 [[ 7.87101569e-01 -6.16751535e-01 -9.41622866e-03 2.54314303e+02] [ 6.16706378e-01 7.87157888e-01 -7.46348089e-03 8.61013348e+01] [ 1.20151720e-02 6.74692432e-05 9.99927813e-01 3.13013739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78028169299995 meters Centerline goodness : 0.999450 with order 1 Centerline is valid? [True, True] Translation: X:254.36, Y:86.13, Z:3.13 [[ 7.88833434e-01 -6.14534925e-01 -9.41488716e-03 2.54360070e+02] [ 6.14489590e-01 7.88889609e-01 -7.46517276e-03 8.61348288e+01] [ 1.20149160e-02 1.03427706e-04 9.99927813e-01 3.13457411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84028169299995 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:254.40, Y:86.17, Z:3.14 [[ 7.89838755e-01 -6.13242303e-01 -9.41369434e-03 2.54402979e+02] [ 6.13196858e-01 7.89894842e-01 -7.46667663e-03 8.61733494e+01] [ 1.20147106e-02 1.25022781e-04 9.99927813e-01 3.13642456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90028169299995 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:254.45, Y:86.21, Z:3.13 [[ 7.91322057e-01 -6.11327089e-01 -9.41236419e-03 2.54446501e+02] [ 6.11281488e-01 7.91378017e-01 -7.46835301e-03 8.62115122e+01] [ 1.20143446e-02 1.56268482e-04 9.99927813e-01 3.13419527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96028169299996 meters Centerline goodness : 0.999534 with order 1 Centerline is valid? [True, True] Translation: X:254.49, Y:86.25, Z:3.13 [[ 7.91802851e-01 -6.10704247e-01 -9.41104203e-03 2.54489913e+02] [ 6.10658583e-01 7.91858759e-01 -7.47001872e-03 8.62480044e+01] [ 1.20141882e-02 1.67848536e-04 9.99927813e-01 3.13264934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02028169299996 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:254.54, Y:86.28, Z:3.13 [[ 7.90073860e-01 -6.12939435e-01 -9.40987643e-03 2.54538168e+02] [ 6.12893911e-01 7.90129882e-01 -7.47148672e-03 8.62809368e+01] [ 1.20145934e-02 1.35770386e-04 9.99927813e-01 3.13397076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08028169299996 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:254.59, Y:86.31, Z:3.14 [[ 7.88371090e-01 -6.15128039e-01 -9.40850765e-03 2.54585038e+02] [ 6.15082650e-01 7.88427222e-01 -7.47320997e-03 8.63133907e+01] [ 1.20149045e-02 1.04652876e-04 9.99927813e-01 3.13723621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14028169299996 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:254.64, Y:86.34, Z:3.14 [[ 7.85912982e-01 -6.18265548e-01 -9.40728157e-03 2.54636109e+02] [ 6.18220365e-01 7.85969280e-01 -7.47475304e-03 8.63420293e+01] [ 1.20152166e-02 5.87324080e-05 9.99927813e-01 3.14204480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20028169299997 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:254.68, Y:86.38, Z:3.14 [[ 7.84922563e-01 -6.19522476e-01 -9.40589152e-03 2.54684154e+02] [ 6.19477362e-01 7.84978917e-01 -7.47650181e-03 8.63753874e+01] [ 1.20152874e-02 4.17380963e-05 9.99927813e-01 3.14054662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26028169299997 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:254.73, Y:86.41, Z:3.14 [[ 7.83755214e-01 -6.20998647e-01 -9.40451127e-03 2.54734433e+02] [ 6.20953618e-01 7.83811635e-01 -7.47823758e-03 8.64057845e+01] [ 1.20153408e-02 2.13423903e-05 9.99927813e-01 3.14054263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32028169299997 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:254.78, Y:86.44, Z:3.14 [[ 7.83252881e-01 -6.21632131e-01 -9.40306597e-03 2.54780594e+02] [ 6.21587126e-01 7.83309322e-01 -7.48005445e-03 8.64385216e+01] [ 1.20153514e-02 1.39494461e-05 9.99927813e-01 3.14251975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.380281693 meters Centerline goodness : 0.999447 with order 1 Centerline is valid? [True, True] Translation: X:254.83, Y:86.47, Z:3.15 [[ 7.82764371e-01 -6.22247167e-01 -9.40227730e-03 2.54828434e+02] [ 6.22202195e-01 7.82820837e-01 -7.48104567e-03 8.64719602e+01] [ 1.20153581e-02 5.77843742e-06 9.99927813e-01 3.14550984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.440281693 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:254.88, Y:86.50, Z:3.14 [[ 7.84446206e-01 -6.20125611e-01 -9.40087109e-03 2.54875434e+02] [ 6.20080465e-01 7.84502533e-01 -7.48281232e-03 8.65048176e+01] [ 1.20152908e-02 4.05672185e-05 9.99927813e-01 3.14260194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.500281693 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:254.92, Y:86.54, Z:3.15 [[ 7.86778720e-01 -6.17163587e-01 -9.39962427e-03 2.54922093e+02] [ 6.17118210e-01 7.86834861e-01 -7.48437820e-03 8.65395118e+01] [ 1.20150378e-02 8.78701930e-05 9.99927813e-01 3.14646919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.560281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:254.97, Y:86.58, Z:3.14 [[ 7.90228162e-01 -6.12740667e-01 -9.39818575e-03 2.54965861e+02] [ 6.12694955e-01 7.90284031e-01 -7.48618413e-03 8.65767530e+01] [ 1.20143256e-02 1.57572539e-04 9.99927813e-01 3.14428268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.620281693 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:255.01, Y:86.62, Z:3.14 [[ 7.94557341e-01 -6.07116401e-01 -9.39720901e-03 2.55009674e+02] [ 6.07070278e-01 7.94612872e-01 -7.48741001e-03 8.66157293e+01] [ 1.20128727e-02 2.44410298e-04 9.99927813e-01 3.14163588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.680281693 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:255.05, Y:86.65, Z:3.14 [[ 7.95026676e-01 -6.06501692e-01 -9.39591506e-03 2.55052945e+02] [ 6.06455507e-01 7.95082155e-01 -7.48903343e-03 8.66549988e+01] [ 1.20126358e-02 2.55776919e-04 9.99927813e-01 3.14270914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.740281693 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:255.10, Y:86.69, Z:3.15 [[ 7.91532037e-01 -6.11055462e-01 -9.39450436e-03 2.55097717e+02] [ 6.11009576e-01 7.91587763e-01 -7.49080264e-03 8.66925360e+01] [ 1.20138706e-02 1.89078151e-04 9.99927813e-01 3.14734839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.800281693 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:255.14, Y:86.73, Z:3.15 [[ 7.87509277e-01 -6.16231210e-01 -9.39327149e-03 2.55144460e+02] [ 6.16185671e-01 7.87565288e-01 -7.49234830e-03 8.67259217e+01] [ 1.20148334e-02 1.12294497e-04 9.99927813e-01 3.14954529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.860281693 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:255.19, Y:86.76, Z:3.15 [[ 7.84703248e-01 -6.19800449e-01 -9.39231752e-03 2.55190614e+02] [ 6.19755151e-01 7.84759453e-01 -7.49354399e-03 8.67609008e+01] [ 1.20152119e-02 5.92711489e-05 9.99927813e-01 3.14991152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.920281693 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:255.24, Y:86.79, Z:3.15 [[ 7.81970540e-01 -6.23244644e-01 -9.39091777e-03 2.55240888e+02] [ 6.23199572e-01 7.82026927e-01 -7.49529776e-03 8.67911992e+01] [ 1.20153547e-02 8.68610239e-06 9.99927813e-01 3.14746689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98028169299994 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:255.29, Y:86.82, Z:3.15 [[ 7.82123744e-01 -6.23052395e-01 -9.38945950e-03 2.55290566e+02] [ 6.23007287e-01 7.82180103e-01 -7.49712411e-03 8.68201484e+01] [ 1.20153495e-02 1.39770884e-05 9.99927813e-01 3.14812190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04028169299994 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:255.34, Y:86.85, Z:3.15 [[ 7.83325638e-01 -6.21540664e-01 -9.38868600e-03 2.55338563e+02] [ 6.21495436e-01 7.83381900e-01 -7.49809264e-03 8.68517005e+01] [ 1.20152962e-02 3.84227021e-05 9.99927813e-01 3.14779774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10028169299994 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:255.39, Y:86.88, Z:3.15 [[ 7.89477183e-01 -6.13708117e-01 -9.38743469e-03 2.55386906e+02] [ 6.13662313e-01 7.89532977e-01 -7.49965892e-03 8.68826893e+01] [ 1.20142908e-02 1.60094716e-04 9.99927813e-01 3.15093785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16028169299994 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:255.43, Y:86.92, Z:3.15 [[ 7.93465368e-01 -6.08543021e-01 -9.38618248e-03 2.55432322e+02] [ 6.08496835e-01 7.93520846e-01 -7.50122580e-03 8.69179339e+01] [ 1.20129501e-02 2.40500565e-04 9.99927813e-01 3.15403885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22028169299995 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:255.48, Y:86.95, Z:3.16 [[ 7.97123989e-01 -6.03742720e-01 -9.38477328e-03 2.55476647e+02] [ 6.03696179e-01 7.97179170e-01 -7.50298843e-03 8.69545364e+01] [ 1.20112204e-02 3.15260296e-04 9.99927813e-01 3.15688290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28028169299995 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:255.52, Y:86.99, Z:3.16 [[ 7.97029006e-01 -6.03868128e-01 -9.38335566e-03 2.55521793e+02] [ 6.03821575e-01 7.97084176e-01 -7.50476091e-03 8.69912110e+01] [ 1.20112102e-02 3.15639536e-04 9.99927813e-01 3.15713152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34028169299995 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:255.57, Y:87.03, Z:3.15 [[ 7.94820329e-01 -6.06772300e-01 -9.38192869e-03 2.55568119e+02] [ 6.06725928e-01 7.94875651e-01 -7.50654438e-03 8.70266782e+01] [ 1.20122299e-02 2.74094686e-04 9.99927813e-01 3.15434769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40028169299995 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:255.62, Y:87.06, Z:3.15 [[ 7.93099121e-01 -6.09020354e-01 -9.38048796e-03 2.55616110e+02] [ 6.08974117e-01 7.93154556e-01 -7.50834435e-03 8.70587594e+01] [ 1.20129113e-02 2.42386936e-04 9.99927813e-01 3.15309829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46028169299996 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:255.66, Y:87.09, Z:3.15 [[ 7.93202588e-01 -6.08885611e-01 -9.37905582e-03 2.55661662e+02] [ 6.08839344e-01 7.93257998e-01 -7.51013288e-03 8.70924034e+01] [ 1.20128229e-02 2.46718648e-04 9.99927813e-01 3.15341139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52028169299996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:255.71, Y:87.12, Z:3.16 [[ 7.92592839e-01 -6.09679135e-01 -9.37778167e-03 2.55710937e+02] [ 6.09632905e-01 7.92648280e-01 -7.51172356e-03 8.71247958e+01] [ 1.20130236e-02 2.36734023e-04 9.99927813e-01 3.15773909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:255.76, Y:87.16, Z:3.16 [[ 7.93213902e-01 -6.08870912e-01 -9.37653227e-03 2.55757892e+02] [ 6.08824606e-01 7.93269280e-01 -7.51328280e-03 8.71568303e+01] [ 1.20127343e-02 2.50976798e-04 9.99927813e-01 3.16262792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64028169299996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:255.80, Y:87.19, Z:3.16 [[ 7.92603902e-01 -6.09664793e-01 -9.37525057e-03 2.55804338e+02] [ 6.09618524e-01 7.92659310e-01 -7.51488179e-03 8.71915752e+01] [ 1.20129385e-02 2.40998213e-04 9.99927813e-01 3.16132716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70028169299997 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:255.85, Y:87.23, Z:3.16 [[ 7.89789386e-01 -6.13306495e-01 -9.37385385e-03 2.55850218e+02] [ 6.13260460e-01 7.89844990e-01 -7.51662362e-03 8.72266222e+01] [ 1.20138856e-02 1.87935633e-04 9.99927813e-01 3.15830188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76028169299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:255.90, Y:87.26, Z:3.16 [[ 7.86385810e-01 -6.17664565e-01 -9.37246319e-03 2.55898327e+02] [ 6.17618818e-01 7.86441651e-01 -7.51835723e-03 8.72575914e+01] [ 1.20147183e-02 1.23719800e-04 9.99927813e-01 3.15817178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82028169299997 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:255.94, Y:87.29, Z:3.16 [[ 7.84921574e-01 -6.19524256e-01 -9.37122459e-03 2.55943644e+02] [ 6.19478623e-01 7.84977507e-01 -7.51990077e-03 8.72940447e+01] [ 1.20149614e-02 9.72590436e-05 9.99927813e-01 3.16088951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.880281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:255.99, Y:87.33, Z:3.16 [[ 7.84736641e-01 -6.19758512e-01 -9.36973665e-03 2.55989586e+02] [ 6.19712873e-01 7.84792570e-01 -7.52175426e-03 8.73284999e+01] [ 1.20149709e-02 9.60497471e-05 9.99927813e-01 3.15650547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.940281693 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:256.03, Y:87.37, Z:3.16 [[ 7.86032354e-01 -6.18114367e-01 -9.36845561e-03 2.56033105e+02] [ 6.18068592e-01 7.86088172e-01 -7.52334949e-03 8.73672845e+01] [ 1.20147225e-02 1.23247939e-04 9.99927813e-01 3.15923070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.000281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:256.08, Y:87.40, Z:3.16 [[ 7.86615793e-01 -6.17371729e-01 -9.36704052e-03 2.56077319e+02] [ 6.17325881e-01 7.86671551e-01 -7.52511095e-03 8.74029381e+01] [ 1.20145751e-02 1.36854573e-04 9.99927813e-01 3.15918212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.060281693 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:256.12, Y:87.44, Z:3.16 [[ 7.85430251e-01 -6.18879312e-01 -9.36578684e-03 2.56123381e+02] [ 6.18833552e-01 7.85486081e-01 -7.52667095e-03 8.74392891e+01] [ 1.20147961e-02 1.15811918e-04 9.99927813e-01 3.15561070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.120281693 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:256.17, Y:87.48, Z:3.16 [[ 7.84105227e-01 -6.20557249e-01 -9.36448397e-03 2.56169548e+02] [ 6.20511589e-01 7.84161139e-01 -7.52829161e-03 8.74752888e+01] [ 1.20150003e-02 9.22019797e-05 9.99927813e-01 3.16421647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.180281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:256.22, Y:87.51, Z:3.16 [[ 7.85855457e-01 -6.18339332e-01 -9.36323916e-03 2.56215028e+02] [ 6.18293497e-01 7.85911225e-01 -7.52983951e-03 8.75112325e+01] [ 1.20146707e-02 1.28135595e-04 9.99927813e-01 3.16213759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.240281693 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:256.26, Y:87.55, Z:3.16 [[ 7.85847428e-01 -6.18349558e-01 -9.36181903e-03 2.56259300e+02] [ 6.18303702e-01 7.85903179e-01 -7.53160474e-03 8.75468839e+01] [ 1.20146478e-02 1.30244860e-04 9.99927813e-01 3.16262433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.300281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:256.31, Y:87.58, Z:3.16 [[ 7.81240773e-01 -6.24159618e-01 -9.36085541e-03 2.56305144e+02] [ 6.24114162e-01 7.81296851e-01 -7.53280220e-03 8.75830586e+01] [ 1.20152778e-02 4.26897905e-05 9.99927813e-01 3.16319912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.360281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:256.35, Y:87.62, Z:3.16 [[ 7.76734294e-01 -6.29758871e-01 -9.35949241e-03 2.56351118e+02] [ 6.29713799e-01 7.76790681e-01 -7.53449535e-03 8.76184761e+01] [ 1.20152818e-02 -4.15005919e-05 9.99927813e-01 3.16456636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.420281693 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:256.40, Y:87.65, Z:3.17 [[ 7.70654376e-01 -6.37184636e-01 -9.35806931e-03 2.56396647e+02] [ 6.37140086e-01 7.70711176e-01 -7.53626247e-03 8.76520994e+01] [ 1.20143593e-02 -1.54547431e-04 9.99927813e-01 3.16797397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48028169299994 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:256.44, Y:87.69, Z:3.17 [[ 7.65836864e-01 -6.42966829e-01 -9.35711914e-03 2.56444013e+02] [ 6.42922693e-01 7.65893986e-01 -7.53744203e-03 8.76852802e+01] [ 1.20128865e-02 -2.43453269e-04 9.99927813e-01 3.16827735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54028169299994 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:256.49, Y:87.72, Z:3.17 [[ 7.64683439e-01 -6.44338195e-01 -9.35567811e-03 2.56491098e+02] [ 6.44294140e-01 7.64740623e-01 -7.53923025e-03 8.77191408e+01] [ 1.20124811e-02 -2.62684068e-04 9.99927813e-01 3.17026863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60028169299994 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:256.54, Y:87.75, Z:3.17 [[ 7.68093370e-01 -6.40269531e-01 -9.35425493e-03 2.56538641e+02] [ 6.40225152e-01 7.68150303e-01 -7.54099564e-03 8.77529481e+01] [ 1.20137435e-02 -1.96640519e-04 9.99927813e-01 3.16958517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66028169299994 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:256.58, Y:87.79, Z:3.17 [[ 7.71064159e-01 -6.36688768e-01 -9.35283060e-03 2.56584841e+02] [ 6.36644103e-01 7.71120868e-01 -7.54276177e-03 8.77865999e+01] [ 1.20145546e-02 -1.38471180e-04 9.99927813e-01 3.17081677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72028169299995 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:256.63, Y:87.82, Z:3.17 [[ 7.73557704e-01 -6.33656868e-01 -9.35155170e-03 2.56631451e+02] [ 6.33611961e-01 7.73614223e-01 -7.54434702e-03 8.78205614e+01] [ 1.20150207e-02 -8.92672487e-05 9.99927813e-01 3.16803467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78028169299995 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:256.68, Y:87.85, Z:3.17 [[ 7.76034117e-01 -6.30621616e-01 -9.35023589e-03 2.56679750e+02] [ 6.30576469e-01 7.76090443e-01 -7.54597744e-03 8.78525780e+01] [ 1.20152852e-02 -4.01027912e-05 9.99927813e-01 3.16517467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84028169299995 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:256.73, Y:87.89, Z:3.17 [[ 7.80164844e-01 -6.25504128e-01 -9.34886674e-03 2.56726869e+02] [ 6.25458591e-01 7.80220856e-01 -7.54767334e-03 8.78852874e+01] [ 1.20152816e-02 4.11003831e-05 9.99927813e-01 3.16550531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90028169299995 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:256.78, Y:87.92, Z:3.17 [[ 7.82543615e-01 -6.22525595e-01 -9.34739213e-03 2.56775240e+02] [ 6.22479822e-01 7.82599435e-01 -7.54949912e-03 8.79159083e+01] [ 1.20150202e-02 8.92493402e-05 9.99927813e-01 3.16625895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96028169299996 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:256.82, Y:87.95, Z:3.17 [[ 7.85601518e-01 -6.18662192e-01 -9.34595032e-03 2.56821067e+02] [ 6.18616124e-01 7.85657094e-01 -7.55128359e-03 8.79518337e+01] [ 1.20144058e-02 1.50744295e-04 9.99927813e-01 3.17009013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02028169299996 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:256.87, Y:87.99, Z:3.17 [[ 7.88636536e-01 -6.14788656e-01 -9.34468512e-03 2.56867493e+02] [ 6.14742296e-01 7.88691869e-01 -7.55284894e-03 8.79868767e+01] [ 1.20134830e-02 2.11879436e-04 9.99927813e-01 3.16873285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08028169299996 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:256.91, Y:88.03, Z:3.17 [[ 7.89683479e-01 -6.13443318e-01 -9.34332459e-03 2.56911562e+02] [ 6.13396844e-01 7.89738716e-01 -7.55453163e-03 8.80254439e+01] [ 1.20130621e-02 2.34523006e-04 9.99927813e-01 3.17191593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14028169299996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:256.96, Y:88.06, Z:3.18 [[ 7.89002897e-01 -6.14318449e-01 -9.34195790e-03 2.56958097e+02] [ 6.14272017e-01 7.89058168e-01 -7.55622131e-03 8.80596569e+01] [ 1.20132743e-02 2.23377182e-04 9.99927813e-01 3.17582734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20028169299997 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:257.00, Y:88.10, Z:3.17 [[ 7.86252195e-01 -6.17835124e-01 -9.34056462e-03 2.57003563e+02] [ 6.17788918e-01 7.86307656e-01 -7.55794321e-03 8.80962687e+01] [ 1.20141203e-02 1.71952122e-04 9.99927813e-01 3.17421108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26028169299997 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:257.05, Y:88.13, Z:3.17 [[ 7.84088526e-01 -6.20578734e-01 -9.33911800e-03 2.57050197e+02] [ 6.20532701e-01 7.84144131e-01 -7.55973033e-03 8.81305988e+01] [ 1.20146224e-02 1.32269691e-04 9.99927813e-01 3.17109296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32028169299997 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:257.10, Y:88.16, Z:3.17 [[ 7.83378765e-01 -6.21474471e-01 -9.33766014e-03 2.57097541e+02] [ 6.21428481e-01 7.83434405e-01 -7.56153063e-03 8.81627947e+01] [ 1.20147425e-02 1.20854574e-04 9.99927813e-01 3.17141694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.380281693 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:257.14, Y:88.20, Z:3.17 [[ 7.85350944e-01 -6.18980388e-01 -9.33667031e-03 2.57141791e+02] [ 6.18934206e-01 7.85406425e-01 -7.56275263e-03 8.81995233e+01] [ 1.20142764e-02 1.60630289e-04 9.99927813e-01 3.17290257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.440281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:257.19, Y:88.23, Z:3.18 [[ 7.86293466e-01 -6.17782678e-01 -9.33532554e-03 2.57187693e+02] [ 6.17736391e-01 7.86348860e-01 -7.56441223e-03 8.82346161e+01] [ 1.20139854e-02 1.81077600e-04 9.99927813e-01 3.17728369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.500281693 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:257.23, Y:88.27, Z:3.18 [[ 7.85539861e-01 -6.18740660e-01 -9.33394181e-03 2.57233925e+02] [ 6.18694421e-01 7.85595295e-01 -7.56611927e-03 8.82694603e+01] [ 1.20141664e-02 1.68630553e-04 9.99927813e-01 3.18135546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.560281693 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:257.28, Y:88.30, Z:3.18 [[ 7.86884958e-01 -6.17029147e-01 -9.33247707e-03 2.57278559e+02] [ 6.16982766e-01 7.86940273e-01 -7.56792553e-03 8.83042938e+01] [ 1.20137327e-02 1.97109245e-04 9.99927813e-01 3.17630558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.620281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:257.32, Y:88.34, Z:3.17 [[ 7.88499258e-01 -6.14964916e-01 -9.33122319e-03 2.57324389e+02] [ 6.14918372e-01 7.88554436e-01 -7.56947124e-03 8.83401684e+01] [ 1.20131367e-02 2.30581892e-04 9.99927813e-01 3.17206068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.680281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:257.37, Y:88.37, Z:3.18 [[ 7.88968255e-01 -6.14363123e-01 -9.32981546e-03 2.57370363e+02] [ 6.14316517e-01 7.89023380e-01 -7.57120595e-03 8.83748747e+01] [ 1.20129123e-02 2.41981408e-04 9.99927813e-01 3.17720564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.740281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:257.42, Y:88.41, Z:3.18 [[ 7.89311428e-01 -6.13922174e-01 -9.32917381e-03 2.57415888e+02] [ 6.13875527e-01 7.89366519e-01 -7.57199650e-03 8.84112755e+01] [ 1.20127540e-02 2.49711884e-04 9.99927813e-01 3.17977482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.800281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:257.46, Y:88.45, Z:3.18 [[ 7.90372915e-01 -6.12555016e-01 -9.32776670e-03 2.57456453e+02] [ 6.12508254e-01 7.90427908e-01 -7.57372949e-03 8.84511110e+01] [ 1.20122531e-02 2.72736562e-04 9.99927813e-01 3.17926673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.860281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:257.50, Y:88.49, Z:3.18 [[ 7.92604636e-01 -6.09664582e-01 -9.32681311e-03 2.57497896e+02] [ 6.09617605e-01 7.92659446e-01 -7.57490363e-03 8.84913372e+01] [ 1.20111370e-02 3.18114266e-04 9.99927813e-01 3.18118571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.920281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:257.54, Y:88.53, Z:3.18 [[ 7.91623841e-01 -6.10937584e-01 -9.32543958e-03 2.57537926e+02] [ 6.10890675e-01 7.91678709e-01 -7.57659420e-03 8.85322640e+01] [ 1.20115781e-02 3.00988512e-04 9.99927813e-01 3.18049991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98028169299994 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:257.58, Y:88.57, Z:3.18 [[ 7.89940838e-01 -6.13112165e-01 -9.32451145e-03 2.57579900e+02] [ 6.13065394e-01 7.89995823e-01 -7.57773627e-03 8.85721717e+01] [ 1.20123274e-02 2.69428054e-04 9.99927813e-01 3.18055251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04028169299994 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:257.62, Y:88.61, Z:3.18 [[ 7.88732674e-01 -6.14665639e-01 -9.32316101e-03 2.57620585e+02] [ 6.14618957e-01 7.88787735e-01 -7.57939740e-03 8.86133436e+01] [ 1.20127902e-02 2.47926889e-04 9.99927813e-01 3.18028557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:257.66, Y:88.66, Z:3.18 [[ 7.89365267e-01 -6.13853061e-01 -9.32175309e-03 2.57660599e+02] [ 6.13806302e-01 7.89420262e-01 -7.58112858e-03 8.86553241e+01] [ 1.20124798e-02 2.62528796e-04 9.99927813e-01 3.18052726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16028169299994 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:257.70, Y:88.70, Z:3.18 [[ 7.90468815e-01 -6.12431371e-01 -9.32033352e-03 2.57701224e+02] [ 6.12384492e-01 7.90523709e-01 -7.58287342e-03 8.86961606e+01] [ 1.20119342e-02 2.86397263e-04 9.99927813e-01 3.18252746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22028169299995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:257.74, Y:88.74, Z:3.19 [[ 7.91195437e-01 -6.11492379e-01 -9.31937633e-03 2.57742345e+02] [ 6.11445421e-01 7.91250263e-01 -7.58404963e-03 8.87373880e+01] [ 1.20115475e-02 3.02175478e-04 9.99927813e-01 3.18758290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:257.78, Y:88.78, Z:3.19 [[ 7.91476369e-01 -6.11128736e-01 -9.31801604e-03 2.57783084e+02] [ 6.11081733e-01 7.91531157e-01 -7.58572056e-03 8.87771653e+01] [ 1.20113518e-02 3.09849175e-04 9.99927813e-01 3.19182889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34028169299995 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:257.82, Y:88.82, Z:3.19 [[ 7.90804824e-01 -6.11997491e-01 -9.31676253e-03 2.57824328e+02] [ 6.11950530e-01 7.90859647e-01 -7.58725980e-03 8.88189775e+01] [ 1.20116355e-02 2.98643880e-04 9.99927813e-01 3.19417730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40028169299995 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:257.86, Y:88.86, Z:3.19 [[ 7.90360802e-01 -6.12570833e-01 -9.31540535e-03 2.57861541e+02] [ 6.12523892e-01 7.90415644e-01 -7.58892574e-03 8.88649483e+01] [ 1.20117967e-02 2.92081097e-04 9.99927813e-01 3.19436500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46028169299996 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:257.90, Y:88.91, Z:3.19 [[ 7.90773985e-01 -6.12037378e-01 -9.31404671e-03 2.57896697e+02] [ 6.11990381e-01 7.90828778e-01 -7.59059286e-03 8.89140392e+01] [ 1.20115427e-02 3.02336369e-04 9.99927813e-01 3.19032553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52028169299996 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:257.93, Y:88.96, Z:3.19 [[ 7.88875340e-01 -6.14482687e-01 -9.31262917e-03 2.57930067e+02] [ 6.14435839e-01 7.88930261e-01 -7.59233160e-03 8.89640108e+01] [ 1.20123713e-02 2.67390054e-04 9.99927813e-01 3.19458951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58028169299996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:257.97, Y:89.01, Z:3.19 [[ 7.80899267e-01 -6.24587571e-01 -9.31135383e-03 2.57965448e+02] [ 6.24541415e-01 7.80954770e-01 -7.59389537e-03 8.90111667e+01] [ 1.20147989e-02 1.14741230e-04 9.99927813e-01 3.19122819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64028169299996 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:258.01, Y:89.05, Z:3.19 [[ 7.72650770e-01 -6.34763035e-01 -9.31010062e-03 2.58006339e+02] [ 6.34717592e-01 7.72706858e-01 -7.59543149e-03 8.90532144e+01] [ 1.20152777e-02 -4.06686647e-05 9.99927813e-01 3.18782121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70028169299997 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:258.05, Y:89.09, Z:3.19 [[ 7.58120450e-01 -6.52048105e-01 -9.30870458e-03 2.58052257e+02] [ 6.52003919e-01 7.58177534e-01 -7.59714204e-03 8.90884904e+01] [ 1.20113528e-02 -3.09763125e-04 9.99927813e-01 3.19478439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76028169299997 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:258.11, Y:89.11, Z:3.19 [[ 7.44075737e-01 -6.68030442e-01 -9.30732605e-03 2.58105979e+02] [ 6.67987459e-01 7.44133732e-01 -7.59883052e-03 8.91126546e+01] [ 1.20021454e-02 -5.63071668e-04 9.99927813e-01 3.19214884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82028169299997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:258.16, Y:89.13, Z:3.19 [[ 7.38751852e-01 -6.73913272e-01 -9.30611101e-03 2.58164300e+02] [ 6.73870732e-01 7.38810173e-01 -7.60031825e-03 8.91333047e+01] [ 1.19974048e-02 -6.56366661e-04 9.99927813e-01 3.19144052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.880281693 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:258.22, Y:89.15, Z:3.20 [[ 7.43596485e-01 -6.68563901e-01 -9.30469842e-03 2.58222991e+02] [ 6.68520920e-01 7.43654482e-01 -7.60204724e-03 8.91511439e+01] [ 1.20019350e-02 -5.67529938e-04 9.99927813e-01 3.19565739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.940281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:258.28, Y:89.18, Z:3.19 [[ 7.49163245e-01 -6.62320073e-01 -9.30343921e-03 2.58276426e+02] [ 6.62276589e-01 7.49220865e-01 -7.60358795e-03 8.91760611e+01] [ 1.20063397e-02 -4.65121369e-04 9.99927813e-01 3.19300521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.000281693 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:258.34, Y:89.19, Z:3.20 [[ 7.57129553e-01 -6.53198524e-01 -9.30206226e-03 2.58338655e+02] [ 6.53154325e-01 7.57186627e-01 -7.60527211e-03 8.91914893e+01] [ 1.20111497e-02 -3.17505920e-04 9.99927813e-01 3.19572650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.060281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:258.39, Y:89.22, Z:3.20 [[ 7.58955896e-01 -6.51075605e-01 -9.30076557e-03 2.58387739e+02] [ 6.51031227e-01 7.59012830e-01 -7.60685754e-03 8.92231882e+01] [ 1.20120398e-02 -2.81819450e-04 9.99927813e-01 3.19726452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.120281693 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:258.44, Y:89.25, Z:3.20 [[ 7.64460014e-01 -6.44604071e-01 -9.29933909e-03 2.58440833e+02] [ 6.44559190e-01 7.64516553e-01 -7.60860101e-03 8.92486771e+01] [ 1.20140339e-02 -1.77503230e-04 9.99927813e-01 3.19947307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.180281693 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:258.49, Y:89.28, Z:3.20 [[ 7.68840287e-01 -6.39373258e-01 -9.29783809e-03 2.58489114e+02] [ 6.39327970e-01 7.68896501e-01 -7.61043482e-03 8.92805722e+01] [ 1.20149837e-02 -9.31590530e-05 9.99927813e-01 3.20131716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.240281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:258.53, Y:89.32, Z:3.20 [[ 7.75881697e-01 -6.30809931e-01 -9.29644307e-03 2.58533329e+02] [ 6.30764002e-01 7.75937387e-01 -7.61213851e-03 8.93177657e+01] [ 1.20152703e-02 4.22573038e-05 9.99927813e-01 3.20364758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.300281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:258.58, Y:89.36, Z:3.21 [[ 7.79475129e-01 -6.26364211e-01 -9.29505503e-03 2.58577597e+02] [ 6.26317944e-01 7.79530540e-01 -7.61383304e-03 8.93554863e+01] [ 1.20148118e-02 1.13133738e-04 9.99927813e-01 3.20683561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.360281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:258.62, Y:89.40, Z:3.21 [[ 7.78915455e-01 -6.27060080e-01 -9.29362188e-03 2.58618359e+02] [ 6.27013841e-01 7.78970889e-01 -7.61558197e-03 8.93972216e+01] [ 1.20148883e-02 1.04664940e-04 9.99927813e-01 3.20601305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.420281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:258.66, Y:89.44, Z:3.20 [[ 7.79819056e-01 -6.25936015e-01 -9.29218945e-03 2.58659279e+02] [ 6.25889676e-01 7.79874406e-01 -7.61732936e-03 8.94374539e+01] [ 1.20147015e-02 1.24253136e-04 9.99927813e-01 3.20104118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48028169299994 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:258.70, Y:89.48, Z:3.20 [[ 7.82061200e-01 -6.23132376e-01 -9.29091412e-03 2.58698683e+02] [ 6.23085820e-01 7.82116368e-01 -7.61888458e-03 8.94799395e+01] [ 1.20141497e-02 1.69397170e-04 9.99927813e-01 3.19834467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54028169299994 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:258.74, Y:89.52, Z:3.19 [[ 7.80904254e-01 -6.24581658e-01 -9.28968439e-03 2.58740895e+02] [ 6.24535187e-01 7.80959493e-01 -7.62038369e-03 8.95186526e+01] [ 1.20144191e-02 1.49055268e-04 9.99927813e-01 3.19224271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60028169299994 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:258.78, Y:89.56, Z:3.19 [[ 7.79264862e-01 -6.26625882e-01 -9.28866955e-03 2.58783649e+02] [ 6.26579541e-01 7.79320210e-01 -7.62162049e-03 8.95579911e+01] [ 1.20147526e-02 1.19170739e-04 9.99927813e-01 3.19229080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66028169299994 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:258.83, Y:89.60, Z:3.21 [[ 7.75652121e-01 -6.31092334e-01 -9.28725533e-03 2.58828097e+02] [ 6.31046291e-01 7.75707718e-01 -7.62334339e-03 8.95966966e+01] [ 1.20152292e-02 5.23744343e-05 9.99927813e-01 3.20625091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.87, Y:89.63, Z:3.21 [[ 7.73116208e-01 -6.34196420e-01 -9.28600216e-03 2.58873218e+02] [ 6.34150582e-01 7.73171973e-01 -7.62486957e-03 8.96336630e+01] [ 1.20153416e-02 6.18657310e-06 9.99927813e-01 3.21299080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78028169299995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:258.92, Y:89.67, Z:3.21 [[ 7.74719021e-01 -6.32237484e-01 -9.28455309e-03 2.58916714e+02] [ 6.32191484e-01 7.74774653e-01 -7.62663365e-03 8.96726849e+01] [ 1.20152801e-02 3.88827616e-05 9.99927813e-01 3.20917659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84028169299995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:258.96, Y:89.71, Z:3.21 [[ 7.76028689e-01 -6.30629287e-01 -9.28310212e-03 2.58957501e+02] [ 6.30583151e-01 7.76084208e-01 -7.62839935e-03 8.97149283e+01] [ 1.20151610e-02 6.60889611e-05 9.99927813e-01 3.20636275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.00, Y:89.75, Z:3.21 [[ 7.74311555e-01 -6.32736491e-01 -9.28164818e-03 2.58998404e+02] [ 6.32690485e-01 7.74367181e-01 -7.63016799e-03 8.97543832e+01] [ 1.20152895e-02 3.57167531e-05 9.99927813e-01 3.20920088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:259.04, Y:89.80, Z:3.21 [[ 7.70310931e-01 -6.37600930e-01 -9.28033052e-03 2.59039701e+02] [ 6.37555255e-01 7.70366830e-01 -7.63177028e-03 8.97952485e+01] [ 1.20152826e-02 -3.78874266e-05 9.99927813e-01 3.20768734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:259.08, Y:89.83, Z:3.21 [[ 7.67045254e-01 -6.41525899e-01 -9.27895523e-03 2.59084634e+02] [ 6.41480490e-01 7.67101370e-01 -7.63344204e-03 8.98318517e+01] [ 1.20149500e-02 -9.70732539e-05 9.99927813e-01 3.20569790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:259.13, Y:89.87, Z:3.21 [[ 7.61788677e-01 -6.47759168e-01 -9.27751556e-03 2.59131084e+02] [ 6.47714196e-01 7.61845144e-01 -7.63519137e-03 8.98664782e+01] [ 1.20137954e-02 -1.92776206e-04 9.99927813e-01 3.20553764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14028169299996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:259.18, Y:89.90, Z:3.21 [[ 7.60308919e-01 -6.49495421e-01 -9.27608957e-03 2.59179024e+02] [ 6.49450558e-01 7.60365472e-01 -7.63692343e-03 8.98994477e+01] [ 1.20133650e-02 -2.17940546e-04 9.99927813e-01 3.20686715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20028169299997 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:259.23, Y:89.93, Z:3.21 [[ 7.60129258e-01 -6.49705697e-01 -9.27461275e-03 2.59226208e+02] [ 6.49660828e-01 7.60185805e-01 -7.63871653e-03 8.99310997e+01] [ 1.20133466e-02 -2.18940672e-04 9.99927813e-01 3.20696079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26028169299997 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:259.27, Y:89.96, Z:3.21 [[ 7.60832803e-01 -6.48881693e-01 -9.27328556e-03 2.59273746e+02] [ 6.48836743e-01 7.60889287e-01 -7.64032738e-03 8.99624401e+01] [ 1.20136122e-02 -2.03836704e-04 9.99927813e-01 3.20638184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32028169299997 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:259.32, Y:89.99, Z:3.21 [[ 7.61544289e-01 -6.48046543e-01 -9.27223971e-03 2.59322260e+02] [ 6.48001515e-01 7.61600711e-01 -7.64159641e-03 8.99948966e+01] [ 1.20138545e-02 -1.89011273e-04 9.99927813e-01 3.20892830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.380281693 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:259.37, Y:90.03, Z:3.21 [[ 7.61764221e-01 -6.47788023e-01 -9.27084707e-03 2.59369100e+02] [ 6.47742955e-01 7.61820611e-01 -7.64328560e-03 9.00286979e+01] [ 1.20139512e-02 -1.82744380e-04 9.99927813e-01 3.21174278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.440281693 meters Centerline goodness : 0.999427 with order 1 Centerline is valid? [True, True] Translation: X:259.42, Y:90.06, Z:3.21 [[ 7.61337981e-01 -6.48288938e-01 -9.26993957e-03 2.59416825e+02] [ 6.48243894e-01 7.61394390e-01 -7.64438606e-03 9.00607380e+01] [ 1.20138509e-02 -1.89220271e-04 9.99927813e-01 3.20891787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.500281693 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:259.46, Y:90.10, Z:3.21 [[ 7.61108071e-01 -6.48558858e-01 -9.26886891e-03 2.59463765e+02] [ 6.48513818e-01 7.61164484e-01 -7.64568403e-03 9.00957416e+01] [ 1.20138099e-02 -1.91797748e-04 9.99927813e-01 3.20613517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.560281693 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:259.51, Y:90.13, Z:3.21 [[ 7.61703407e-01 -6.47859580e-01 -9.26741175e-03 2.59511014e+02] [ 6.47814467e-01 7.61759761e-01 -7.64744987e-03 9.01285357e+01] [ 1.20140150e-02 -1.78474783e-04 9.99927813e-01 3.21082426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.620281693 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:259.56, Y:90.16, Z:3.21 [[ 7.62153417e-01 -6.47330135e-01 -9.26633766e-03 2.59557511e+02] [ 6.47284967e-01 7.62209727e-01 -7.64875111e-03 9.01637939e+01] [ 1.20141598e-02 -1.68439266e-04 9.99927813e-01 3.21215537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.680281693 meters Centerline goodness : 0.999300 with order 1 Centerline is valid? [True, True] Translation: X:259.60, Y:90.20, Z:3.21 [[ 7.63668435e-01 -6.45542163e-01 -9.26486213e-03 2.59603015e+02] [ 6.45496842e-01 7.63724621e-01 -7.65053798e-03 9.01988763e+01] [ 1.20145482e-02 -1.37964879e-04 9.99927813e-01 3.20696258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.740281693 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:259.65, Y:90.24, Z:3.22 [[ 7.64477629e-01 -6.44583699e-01 -9.26336040e-03 2.59646843e+02] [ 6.44538285e-01 7.64533741e-01 -7.65235587e-03 9.02354614e+01] [ 1.20147354e-02 -1.20535552e-04 9.99927813e-01 3.21738720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.800281693 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:259.69, Y:90.27, Z:3.22 [[ 7.67219340e-01 -6.41317939e-01 -9.26206619e-03 2.59692733e+02] [ 6.41272267e-01 7.67275242e-01 -7.65392200e-03 9.02716221e+01] [ 1.20151516e-02 -6.72692020e-05 9.99927813e-01 3.21778604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.860281693 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:259.74, Y:90.31, Z:3.22 [[ 7.69370213e-01 -6.38736030e-01 -9.26062466e-03 2.59736268e+02] [ 6.38690150e-01 7.69425944e-01 -7.65566573e-03 9.03083849e+01] [ 1.20153144e-02 -2.46285758e-05 9.99927813e-01 3.22469639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.920281693 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:259.78, Y:90.35, Z:3.23 [[ 7.69679574e-01 -6.38363237e-01 -9.25911087e-03 2.59780720e+02] [ 6.38317308e-01 7.69735264e-01 -7.65749615e-03 9.03455464e+01] [ 1.20153282e-02 -1.64323522e-05 9.99927813e-01 3.22544917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98028169299994 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:259.83, Y:90.38, Z:3.22 [[ 7.69874622e-01 -6.38128013e-01 -9.25768279e-03 2.59825293e+02] [ 6.38082046e-01 7.69930282e-01 -7.65922226e-03 9.03811587e+01] [ 1.20153346e-02 -1.05203322e-05 9.99927813e-01 3.22367276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04028169299994 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:259.87, Y:90.42, Z:3.22 [[ 7.72339460e-01 -6.35142568e-01 -9.25617822e-03 2.59870180e+02] [ 6.35096364e-01 7.72394923e-01 -7.66104010e-03 9.04176673e+01] [ 1.20152777e-02 3.83584372e-05 9.99927813e-01 3.21890438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10028169299994 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:259.91, Y:90.46, Z:3.22 [[ 7.78197583e-01 -6.27951329e-01 -9.25470980e-03 2.59910527e+02] [ 6.27904592e-01 7.78252597e-01 -7.66281358e-03 9.04586124e+01] [ 1.20143759e-02 1.52108228e-04 9.99927813e-01 3.22040738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16028169299994 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:259.95, Y:90.50, Z:3.22 [[ 7.83344986e-01 -6.21518309e-01 -9.25339557e-03 2.59950662e+02] [ 6.21471101e-01 7.83399596e-01 -7.66440027e-03 9.05017377e+01] [ 1.20126715e-02 2.53151588e-04 9.99927813e-01 3.21889324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22028169299995 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:259.99, Y:90.54, Z:3.22 [[ 7.83226240e-01 -6.21667965e-01 -9.25195031e-03 2.59990522e+02] [ 6.21620747e-01 7.83280842e-01 -7.66614450e-03 9.05432081e+01] [ 1.20126719e-02 2.53121266e-04 9.99927813e-01 3.21597261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28028169299995 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:260.03, Y:90.58, Z:3.22 [[ 7.81325632e-01 -6.24055026e-01 -9.25099054e-03 2.60032265e+02] [ 6.24007961e-01 7.81380366e-01 -7.66730251e-03 9.05838415e+01] [ 1.20133610e-02 2.17968227e-04 9.99927813e-01 3.21849258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34028169299995 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:260.07, Y:90.63, Z:3.22 [[ 7.78116775e-01 -6.28051535e-01 -9.24956273e-03 2.60070378e+02] [ 6.28004730e-01 7.78171732e-01 -7.66902458e-03 9.06265213e+01] [ 1.20142909e-02 1.58627524e-04 9.99927813e-01 3.22033705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40028169299995 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:260.11, Y:90.67, Z:3.22 [[ 7.77147842e-01 -6.29250110e-01 -9.24827107e-03 2.60110979e+02] [ 6.29203372e-01 7.77202856e-01 -7.67058192e-03 9.06678871e+01] [ 1.20144972e-02 1.42132849e-04 9.99927813e-01 3.21831623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46028169299996 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:260.15, Y:90.71, Z:3.22 [[ 7.75702315e-01 -6.31031232e-01 -9.24683755e-03 2.60151081e+02] [ 6.30984599e-01 7.75757418e-01 -7.67230963e-03 9.07100565e+01] [ 1.20147698e-02 1.16816253e-04 9.99927813e-01 3.22442298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52028169299996 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:260.19, Y:90.75, Z:3.23 [[ 7.74153262e-01 -6.32930682e-01 -9.24541803e-03 2.60193410e+02] [ 6.32884165e-01 7.74208462e-01 -7.67401982e-03 9.07482936e+01] [ 1.20150035e-02 8.95888114e-05 9.99927813e-01 3.22565241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58028169299996 meters Centerline goodness : 0.999274 with order 1 Centerline is valid? [True, True] Translation: X:260.24, Y:90.79, Z:3.22 [[ 7.74078021e-01 -6.33022720e-01 -9.24411326e-03 2.60237172e+02] [ 6.32976190e-01 7.74133211e-01 -7.67559122e-03 9.07862088e+01] [ 1.20149987e-02 9.02028724e-05 9.99927813e-01 3.22436220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64028169299996 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:260.28, Y:90.83, Z:3.23 [[ 7.74460713e-01 -6.32554486e-01 -9.24266849e-03 2.60279831e+02] [ 6.32507902e-01 7.74515857e-01 -7.67733056e-03 9.08251828e+01] [ 1.20149232e-02 9.97300436e-05 9.99927813e-01 3.22877488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70028169299997 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:260.32, Y:90.86, Z:3.23 [[ 7.75342942e-01 -6.31472820e-01 -9.24120147e-03 2.60323248e+02] [ 6.31426138e-01 7.75398004e-01 -7.67909602e-03 9.08617441e+01] [ 1.20147496e-02 1.18796748e-04 9.99927813e-01 3.23012980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76028169299997 meters Centerline goodness : 0.999597 with order 1 Centerline is valid? [True, True] Translation: X:260.37, Y:90.90, Z:3.23 [[ 7.76774488e-01 -6.29711061e-01 -9.23989187e-03 2.60368245e+02] [ 6.29664235e-01 7.76829427e-01 -7.68067146e-03 9.08983813e+01] [ 1.20144237e-02 1.48120191e-04 9.99927813e-01 3.22776424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82028169299997 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:260.41, Y:90.94, Z:3.23 [[ 7.78020108e-01 -6.28171443e-01 -9.23844248e-03 2.60412278e+02] [ 6.28124488e-01 7.78074937e-01 -7.68241442e-03 9.09365056e+01] [ 1.20140739e-02 1.74180948e-04 9.99927813e-01 3.22943509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.880281693 meters Centerline goodness : 0.999619 with order 1 Centerline is valid? [True, True] Translation: X:260.45, Y:90.98, Z:3.23 [[ 7.83159631e-01 -6.21752097e-01 -9.23699820e-03 2.60453028e+02] [ 6.21704672e-01 7.83214054e-01 -7.68415057e-03 9.09772451e+01] [ 1.20121835e-02 2.75231587e-04 9.99927813e-01 3.22618192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.940281693 meters Centerline goodness : 0.999406 with order 1 Centerline is valid? [True, True] Translation: X:260.49, Y:91.02, Z:3.22 [[ 7.84794108e-01 -6.19687750e-01 -9.23577121e-03 2.60494061e+02] [ 6.19640165e-01 7.84848391e-01 -7.68562504e-03 9.10183527e+01] [ 1.20113679e-02 3.08778449e-04 9.99927813e-01 3.22480413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.000281693 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:260.54, Y:91.06, Z:3.23 [[ 7.82240611e-01 -6.22907981e-01 -9.23437421e-03 2.60536114e+02] [ 6.22860599e-01 7.82295072e-01 -7.68730318e-03 9.10591506e+01] [ 1.20124879e-02 2.61592891e-04 9.99927813e-01 3.23213631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.060281693 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:260.58, Y:91.10, Z:3.23 [[ 7.74260336e-01 -6.32799876e-01 -9.23298239e-03 2.60581267e+02] [ 6.32753171e-01 7.74315378e-01 -7.68897449e-03 9.10951813e+01] [ 1.20148224e-02 1.11069088e-04 9.99927813e-01 3.23133120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.120281693 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:260.63, Y:91.13, Z:3.23 [[ 7.70203121e-01 -6.37731865e-01 -9.23153770e-03 2.60625972e+02] [ 6.37685491e-01 7.70258442e-01 -7.69070862e-03 9.11308313e+01] [ 1.20152798e-02 3.65901335e-05 9.99927813e-01 3.23334488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.180281693 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:260.67, Y:91.17, Z:3.24 [[ 7.71407317e-01 -6.36274743e-01 -9.23055055e-03 2.60671213e+02] [ 6.36228251e-01 7.71462538e-01 -7.69189324e-03 9.11670111e+01] [ 1.20151813e-02 6.08456979e-05 9.99927813e-01 3.23771017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.240281693 meters Centerline goodness : 0.999283 with order 1 Centerline is valid? [True, True] Translation: X:260.72, Y:91.20, Z:3.23 [[ 7.73147190e-01 -6.34159480e-01 -9.22911631e-03 2.60715831e+02] [ 6.34112817e-01 7.73202266e-01 -7.69361373e-03 9.12026640e+01] [ 1.20149517e-02 9.59948923e-05 9.99927813e-01 3.23434494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.300281693 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:260.76, Y:91.24, Z:3.24 [[ 7.75582359e-01 -6.31178938e-01 -9.22784625e-03 2.60758185e+02] [ 6.31132044e-01 7.75637240e-01 -7.69513675e-03 9.12417038e+01] [ 1.20144694e-02 1.44222846e-04 9.99927813e-01 3.23709550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.360281693 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:260.81, Y:91.27, Z:3.24 [[ 7.71108983e-01 -6.36636324e-01 -9.22643918e-03 2.60806266e+02] [ 6.36589799e-01 7.71164176e-01 -7.69682345e-03 9.12749572e+01] [ 1.20151768e-02 6.16326384e-05 9.99927813e-01 3.23968041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.420281693 meters Centerline goodness : 0.999448 with order 1 Centerline is valid? [True, True] Translation: X:260.86, Y:91.31, Z:3.23 [[ 7.61874297e-01 -6.47659211e-01 -9.22505530e-03 2.60856584e+02] [ 6.47613464e-01 7.61930137e-01 -7.69848175e-03 9.13061922e+01] [ 1.20148403e-02 -1.08994656e-04 9.99927813e-01 3.22929376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48028169299994 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:260.91, Y:91.33, Z:3.23 [[ 7.55757178e-01 -6.54786997e-01 -9.22373139e-03 2.60910626e+02] [ 6.54741757e-01 7.55813430e-01 -7.70006764e-03 9.13316789e+01] [ 1.20133242e-02 -2.19780709e-04 9.99927813e-01 3.23246991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54028169299994 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:260.96, Y:91.36, Z:3.24 [[ 7.59169331e-01 -6.50827839e-01 -9.22225683e-03 2.60963875e+02] [ 6.50782285e-01 7.59225329e-01 -7.70183328e-03 9.13589999e+01] [ 1.20143385e-02 -1.54685750e-04 9.99927813e-01 3.23823024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60028169299994 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:261.01, Y:91.39, Z:3.24 [[ 7.68495185e-01 -6.39789127e-01 -9.22080177e-03 2.61014258e+02] [ 6.39742747e-01 7.68550501e-01 -7.70357492e-03 9.13881235e+01] [ 1.20153153e-02 2.12191799e-05 9.99927813e-01 3.23601481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66028169299994 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:261.06, Y:91.42, Z:3.24 [[ 7.76755326e-01 -6.29734999e-01 -9.21927093e-03 2.61060017e+02] [ 6.29687882e-01 7.76810014e-01 -7.70540653e-03 9.14231873e+01] [ 1.20139862e-02 1.79952374e-04 9.99927813e-01 3.24350128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72028169299995 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:261.11, Y:91.46, Z:3.24 [[ 7.79685782e-01 -6.26103117e-01 -9.21783463e-03 2.61105967e+02] [ 6.26055724e-01 7.79740233e-01 -7.70712437e-03 9.14583985e+01] [ 1.20129711e-02 2.38257162e-04 9.99927813e-01 3.24225135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78028169299995 meters Centerline goodness : 0.999469 with order 1 Centerline is valid? [True, True] Translation: X:261.15, Y:91.50, Z:3.25 [[ 7.79901488e-01 -6.25834425e-01 -9.21638700e-03 2.61148943e+02] [ 6.25786993e-01 7.79955904e-01 -7.70885509e-03 9.14952375e+01] [ 1.20128423e-02 2.44652437e-04 9.99927813e-01 3.24521901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84028169299995 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:261.19, Y:91.53, Z:3.25 [[ 7.80624449e-01 -6.24932434e-01 -9.21540784e-03 2.61190702e+02] [ 6.24884925e-01 7.80678798e-01 -7.71002543e-03 9.15347904e+01] [ 1.20125185e-02 2.60064916e-04 9.99927813e-01 3.24537758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90028169299995 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:261.23, Y:91.57, Z:3.24 [[ 7.80980307e-01 -6.24487678e-01 -9.21414344e-03 2.61233416e+02] [ 6.24440121e-01 7.81034614e-01 -7.71153620e-03 9.15745863e+01] [ 1.20123243e-02 2.68877065e-04 9.99927813e-01 3.24352099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96028169299996 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:261.28, Y:91.62, Z:3.24 [[ 7.81306080e-01 -6.24080071e-01 -9.21271604e-03 2.61275032e+02] [ 6.24032466e-01 7.81360344e-01 -7.71324109e-03 9.16154173e+01] [ 1.20121310e-02 2.77368245e-04 9.99927813e-01 3.24166778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02028169299996 meters Centerline goodness : 0.999471 with order 1 Centerline is valid? [True, True] Translation: X:261.32, Y:91.65, Z:3.24 [[ 7.80382465e-01 -6.25234645e-01 -9.21126313e-03 2.61315877e+02] [ 6.25187099e-01 7.80436782e-01 -7.71497579e-03 9.16548503e+01] [ 1.20124787e-02 2.61868957e-04 9.99927813e-01 3.24356072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08028169299996 meters Centerline goodness : 0.999619 with order 1 Centerline is valid? [True, True] Translation: X:261.35, Y:91.70, Z:3.24 [[ 7.81151349e-01 -6.24273775e-01 -9.20995905e-03 2.61354207e+02] [ 6.24226144e-01 7.81205591e-01 -7.71653225e-03 9.16993968e+01] [ 1.20121002e-02 2.78682349e-04 9.99927813e-01 3.24346756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14028169299996 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:261.39, Y:91.75, Z:3.25 [[ 7.83580853e-01 -6.21221578e-01 -9.20855110e-03 2.61390935e+02] [ 6.21173716e-01 7.83634892e-01 -7.71821207e-03 9.17465251e+01] [ 1.20108618e-02 3.27733292e-04 9.99927813e-01 3.24538907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20028169299997 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:261.43, Y:91.79, Z:3.25 [[ 7.82789657e-01 -6.22218275e-01 -9.20711960e-03 2.61425046e+02] [ 6.22170462e-01 7.82843739e-01 -7.71991934e-03 9.17938257e+01] [ 1.20112108e-02 3.14675153e-04 9.99927813e-01 3.24566877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26028169299997 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:261.46, Y:91.84, Z:3.24 [[ 7.78776629e-01 -6.27233780e-01 -9.20584271e-03 2.61461324e+02] [ 6.27186297e-01 7.78831001e-01 -7.72144171e-03 9.18396633e+01] [ 1.20129448e-02 2.39499950e-04 9.99927813e-01 3.24421695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32028169299997 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:261.50, Y:91.88, Z:3.25 [[ 7.75613735e-01 -6.31140721e-01 -9.20460485e-03 2.61500535e+02] [ 6.31093494e-01 7.75668330e-01 -7.72291706e-03 9.18827693e+01] [ 1.20139679e-02 1.81034308e-04 9.99927813e-01 3.24672688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.380281693 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:261.54, Y:91.93, Z:3.25 [[ 7.71399814e-01 -6.36284235e-01 -9.20321151e-03 2.61539671e+02] [ 6.36237353e-01 7.71454705e-01 -7.72457711e-03 9.19267513e+01] [ 1.20148875e-02 1.03310421e-04 9.99927813e-01 3.24950023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.440281693 meters Centerline goodness : 0.999406 with order 1 Centerline is valid? [True, True] Translation: X:261.58, Y:91.97, Z:3.25 [[ 7.68253011e-01 -6.40080182e-01 -9.20176037e-03 2.61581672e+02] [ 6.40033550e-01 7.68308114e-01 -7.72630536e-03 9.19659527e+01] [ 1.20152421e-02 4.63219954e-05 9.99927813e-01 3.24752661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.500281693 meters Centerline goodness : 0.999493 with order 1 Centerline is valid? [True, True] Translation: X:261.62, Y:92.00, Z:3.25 [[ 7.64352456e-01 -6.44733021e-01 -9.20077185e-03 2.61624914e+02] [ 6.44686711e-01 7.64407830e-01 -7.72748235e-03 9.20031757e+01] [ 1.20153051e-02 -2.50952259e-05 9.99927813e-01 3.24725893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.560281693 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:261.67, Y:92.04, Z:3.25 [[ 7.60651781e-01 -6.49094938e-01 -9.19948214e-03 2.61670960e+02] [ 6.49048927e-01 7.60707403e-01 -7.72901743e-03 9.20385335e+01] [ 1.20149803e-02 -9.18231372e-05 9.99927813e-01 3.24788650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.620281693 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:261.72, Y:92.07, Z:3.25 [[ 7.57285840e-01 -6.53018799e-01 -9.19807480e-03 2.61721118e+02] [ 6.52973056e-01 7.57341683e-01 -7.73069191e-03 9.20683300e+01] [ 1.20143726e-02 -1.51751490e-04 9.99927813e-01 3.25316366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.680281693 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:261.77, Y:92.10, Z:3.25 [[ 7.55442981e-01 -6.55149849e-01 -9.19661942e-03 2.61769812e+02] [ 6.55104242e-01 7.55498936e-01 -7.73242287e-03 9.21002158e+01] [ 1.20139319e-02 -1.83339809e-04 9.99927813e-01 3.25347780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.740281693 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:261.82, Y:92.13, Z:3.25 [[ 7.55914116e-01 -6.54606216e-01 -9.19517925e-03 2.61822810e+02] [ 6.54560548e-01 7.55970021e-01 -7.73413510e-03 9.21278072e+01] [ 1.20140928e-02 -1.72459673e-04 9.99927813e-01 3.25460082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.800281693 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:261.87, Y:92.16, Z:3.25 [[ 7.60737337e-01 -6.48994746e-01 -9.19374813e-03 2.61874481e+02] [ 6.48948645e-01 7.60792885e-01 -7.73583594e-03 9.21552871e+01] [ 1.20150550e-02 -8.13311560e-05 9.99927813e-01 3.25097527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.860281693 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:261.92, Y:92.19, Z:3.25 [[ 7.67851387e-01 -6.40562051e-01 -9.19270106e-03 2.61923837e+02] [ 6.40515325e-01 7.67906411e-01 -7.73707999e-03 9.21852201e+01] [ 1.20152139e-02 5.28616942e-05 9.99927813e-01 3.25432438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.920281693 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:261.97, Y:92.22, Z:3.26 [[ 7.75849619e-01 -6.30850926e-01 -9.19120287e-03 2.61970567e+02] [ 6.30803491e-01 7.75904032e-01 -7.73885935e-03 9.22197223e+01] [ 1.20135580e-02 2.06348221e-04 9.99927813e-01 3.25667289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98028169299994 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:262.01, Y:92.26, Z:3.25 [[ 7.80870688e-01 -6.24625100e-01 -9.18980686e-03 2.62014576e+02] [ 6.24577211e-01 7.80924703e-01 -7.74051674e-03 9.22562772e+01] [ 1.20114682e-02 3.04598691e-04 9.99927813e-01 3.25224811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04028169299994 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:262.06, Y:92.30, Z:3.25 [[ 7.82792085e-01 -6.22215498e-01 -9.18835242e-03 2.62057713e+02] [ 6.22167422e-01 7.82845934e-01 -7.74224284e-03 9.22956120e+01] [ 1.20104078e-02 3.43872875e-04 9.99927813e-01 3.25302663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10028169299994 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:262.10, Y:92.33, Z:3.25 [[ 7.81107321e-01 -6.24329201e-01 -9.18700609e-03 2.62101751e+02] [ 6.24281253e-01 7.81161283e-01 -7.74384008e-03 9.23333907e+01] [ 1.20112390e-02 3.13494507e-04 9.99927813e-01 3.24942554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16028169299994 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:262.15, Y:92.37, Z:3.25 [[ 7.80151207e-01 -6.25523555e-01 -9.18566425e-03 2.62145353e+02] [ 6.25475670e-01 7.80205226e-01 -7.74543143e-03 9.23702183e+01] [ 1.20116530e-02 2.97198174e-04 9.99927813e-01 3.25294257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22028169299995 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:262.19, Y:92.41, Z:3.25 [[ 7.81257429e-01 -6.24141393e-01 -9.18425011e-03 2.62187272e+02] [ 6.24093393e-01 7.81311345e-01 -7.74710790e-03 9.24100106e+01] [ 1.20110495e-02 3.20655781e-04 9.99927813e-01 3.25300653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28028169299995 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:262.23, Y:92.45, Z:3.26 [[ 7.80666599e-01 -6.24880257e-01 -9.18286833e-03 2.62228703e+02] [ 6.24832289e-01 7.80720544e-01 -7.74874542e-03 9.24506535e+01] [ 1.20112920e-02 3.11434101e-04 9.99927813e-01 3.25659640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34028169299995 meters Centerline goodness : 0.999471 with order 1 Centerline is valid? [True, True] Translation: X:262.27, Y:92.49, Z:3.25 [[ 7.78331578e-01 -6.27786314e-01 -9.18139656e-03 2.62271636e+02] [ 6.27738527e-01 7.78385683e-01 -7.75048890e-03 9.24882380e+01] [ 1.20123185e-02 2.68933902e-04 9.99927813e-01 3.25207930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40028169299995 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:262.32, Y:92.53, Z:3.25 [[ 7.75026346e-01 -6.31862237e-01 -9.18018471e-03 2.62315120e+02] [ 6.31814718e-01 7.75080686e-01 -7.75192403e-03 9.25271710e+01] [ 1.20135319e-02 2.07769544e-04 9.99927813e-01 3.25321451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46028169299996 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:262.36, Y:92.56, Z:3.26 [[ 7.71397485e-01 -6.36287412e-01 -9.17867933e-03 2.62360401e+02] [ 6.36240184e-01 7.71452078e-01 -7.75370607e-03 9.25640074e+01] [ 1.20144968e-02 1.41344740e-04 9.99927813e-01 3.25785395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52028169299996 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:262.40, Y:92.60, Z:3.25 [[ 7.69651880e-01 -6.38397808e-01 -9.17720646e-03 2.62404596e+02] [ 6.38350709e-01 7.69706584e-01 -7.75544896e-03 9.26001855e+01] [ 1.20148179e-02 1.10719633e-04 9.99927813e-01 3.25499790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58028169299996 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:262.45, Y:92.63, Z:3.26 [[ 7.69352124e-01 -6.38759041e-01 -9.17588689e-03 2.62451419e+02] [ 6.38711948e-01 7.69406834e-01 -7.75700990e-03 9.26349134e+01] [ 1.20148503e-02 1.07123450e-04 9.99927813e-01 3.25550135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64028169299996 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:262.50, Y:92.67, Z:3.26 [[ 7.69978337e-01 -6.38004067e-01 -9.17441356e-03 2.62496277e+02] [ 6.37956900e-01 7.70032983e-01 -7.75875205e-03 9.26700788e+01] [ 1.20147164e-02 1.21190574e-04 9.99927813e-01 3.26000454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70028169299997 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:262.54, Y:92.71, Z:3.27 [[ 7.72149145e-01 -6.35375127e-01 -9.17311227e-03 2.62541350e+02] [ 6.35327756e-01 7.72203614e-01 -7.76029026e-03 9.27060655e+01] [ 1.20142058e-02 1.64168655e-04 9.99927813e-01 3.26715413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76028169299997 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:262.58, Y:92.75, Z:3.27 [[ 7.74011439e-01 -6.33105183e-01 -9.17166618e-03 2.62583276e+02] [ 6.33057631e-01 7.74065751e-01 -7.76199897e-03 9.27466419e+01] [ 1.20136344e-02 2.01682730e-04 9.99927813e-01 3.26967276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82028169299997 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:262.63, Y:92.79, Z:3.27 [[ 7.75414260e-01 -6.31386278e-01 -9.17017916e-03 2.62626209e+02] [ 6.31338586e-01 7.75468448e-01 -7.76375537e-03 9.27856430e+01] [ 1.20131132e-02 2.30638684e-04 9.99927813e-01 3.27241034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.880281693 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:262.67, Y:92.83, Z:3.27 [[ 7.77839671e-01 -6.28395880e-01 -9.16870127e-03 2.62665393e+02] [ 6.28347958e-01 7.77893656e-01 -7.76550031e-03 9.28284210e+01] [ 1.20120830e-02 2.79179488e-04 9.99927813e-01 3.26931573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.940281693 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:262.70, Y:92.87, Z:3.27 [[ 7.79196834e-01 -6.26712259e-01 -9.16721850e-03 2.62704742e+02] [ 6.26664200e-01 7.79250698e-01 -7.76725033e-03 9.28705986e+01] [ 1.20113924e-02 3.07449216e-04 9.99927813e-01 3.26845189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.000281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:262.74, Y:92.92, Z:3.27 [[ 7.78465100e-01 -6.27620963e-01 -9.16592068e-03 2.62739965e+02] [ 6.27572950e-01 7.78519004e-01 -7.76878155e-03 9.29181637e+01] [ 1.20116936e-02 2.95441435e-04 9.99927813e-01 3.27462021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.060281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:262.78, Y:92.96, Z:3.27 [[ 7.76715857e-01 -6.29784478e-01 -9.16454023e-03 2.62780670e+02] [ 6.29736595e-01 7.76769877e-01 -7.77040968e-03 9.29592989e+01] [ 1.20124222e-02 2.64154057e-04 9.99927813e-01 3.27340380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.120281693 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:262.82, Y:93.00, Z:3.27 [[ 7.73791831e-01 -6.33373695e-01 -9.16315525e-03 2.62819260e+02] [ 6.33326044e-01 7.73846055e-01 -7.77204255e-03 9.30036285e+01] [ 1.20134789e-02 2.10678179e-04 9.99927813e-01 3.27393619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.180281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:262.86, Y:93.05, Z:3.27 [[ 7.71033963e-01 -6.36728114e-01 -9.16171122e-03 2.62858180e+02] [ 6.36680678e-01 7.71088376e-01 -7.77374441e-03 9.30471253e+01] [ 1.20142506e-02 1.60736458e-04 9.99927813e-01 3.27044600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.240281693 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:262.90, Y:93.09, Z:3.27 [[ 7.68231375e-01 -6.40106744e-01 -9.16025496e-03 2.62898688e+02] [ 6.40059527e-01 7.68285978e-01 -7.77546002e-03 9.30882078e+01] [ 1.20148198e-02 1.10243893e-04 9.99927813e-01 3.26808372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.300281693 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:262.94, Y:93.13, Z:3.27 [[ 7.68091534e-01 -6.40274557e-01 -9.15896204e-03 2.62939818e+02] [ 6.40227334e-01 7.68146132e-01 -7.77698269e-03 9.31301662e+01] [ 1.20148254e-02 1.09616725e-04 9.99927813e-01 3.27348524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.360281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:262.98, Y:93.17, Z:3.28 [[ 7.69208080e-01 -6.38932758e-01 -9.15751521e-03 2.62979939e+02] [ 6.38885419e-01 7.69262578e-01 -7.77868599e-03 9.31730904e+01] [ 1.20145910e-02 1.32825173e-04 9.99927813e-01 3.27719831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.420281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:263.02, Y:93.21, Z:3.28 [[ 7.69468207e-01 -6.38619484e-01 -9.15603349e-03 2.63020581e+02] [ 6.38572103e-01 7.69522667e-01 -7.78042968e-03 9.32127338e+01] [ 1.20145093e-02 1.40005721e-04 9.99927813e-01 3.27663721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48028169299994 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:263.06, Y:93.25, Z:3.28 [[ 7.64720134e-01 -6.44297531e-01 -9.15471214e-03 2.63064061e+02] [ 6.44250535e-01 7.64774927e-01 -7.78198411e-03 9.32515467e+01] [ 1.20152075e-02 5.31117387e-05 9.99927813e-01 3.27769776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54028169299994 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:263.11, Y:93.29, Z:3.28 [[ 7.62316531e-01 -6.47139650e-01 -9.15320614e-03 2.63107131e+02] [ 6.47092837e-01 7.62371480e-01 -7.78375507e-03 9.32886141e+01] [ 1.20153198e-02 1.07110338e-05 9.99927813e-01 3.27740873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60028169299994 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:263.15, Y:93.33, Z:3.28 [[ 7.61226428e-01 -6.48421597e-01 -9.15186945e-03 2.63151226e+02] [ 6.48374858e-01 7.61281441e-01 -7.78532639e-03 9.33270117e+01] [ 1.20153221e-02 -7.44585345e-06 9.99927813e-01 3.27877510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66028169299994 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:263.19, Y:93.36, Z:3.27 [[ 7.60413209e-01 -6.49375100e-01 -9.15045354e-03 2.63194952e+02] [ 6.49328410e-01 7.60468263e-01 -7.78699022e-03 9.33649969e+01] [ 1.20153071e-02 -2.03192182e-05 9.99927813e-01 3.27442917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72028169299995 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:263.24, Y:93.40, Z:3.28 [[ 7.60490389e-01 -6.49284733e-01 -9.14902049e-03 2.63240848e+02] [ 6.49238016e-01 7.60545420e-01 -7.78867356e-03 9.34006319e+01] [ 1.20153125e-02 -1.66805279e-05 9.99927813e-01 3.27758504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78028169299995 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:263.28, Y:93.44, Z:3.28 [[ 7.61547920e-01 -6.48044047e-01 -9.14759818e-03 2.63283694e+02] [ 6.47997220e-01 7.61602858e-01 -7.79034368e-03 9.34396782e+01] [ 1.20153228e-02 5.10183806e-06 9.99927813e-01 3.28178546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84028169299995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:263.33, Y:93.48, Z:3.28 [[ 7.62300647e-01 -6.47158460e-01 -9.14616753e-03 2.63327713e+02] [ 6.47111549e-01 7.62355513e-01 -7.79202295e-03 9.34771341e+01] [ 1.20153048e-02 2.12735018e-05 9.99927813e-01 3.28301183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90028169299995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:263.37, Y:93.51, Z:3.28 [[ 7.63144920e-01 -6.46162677e-01 -9.14469869e-03 2.63373020e+02] [ 6.46115674e-01 7.63199707e-01 -7.79374639e-03 9.35124538e+01] [ 1.20152594e-02 3.92248007e-05 9.99927813e-01 3.28306349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96028169299996 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:263.42, Y:93.55, Z:3.28 [[ 7.65016757e-01 -6.43945463e-01 -9.14338921e-03 2.63418901e+02] [ 6.43898283e-01 7.65071392e-01 -7.79528234e-03 9.35486064e+01] [ 1.20150822e-02 7.61090004e-05 9.99927813e-01 3.28087375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02028169299996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:263.46, Y:93.58, Z:3.28 [[ 7.64248644e-01 -6.44856910e-01 -9.14195591e-03 2.63463023e+02] [ 6.44809775e-01 7.64303318e-01 -7.79696288e-03 9.35843074e+01] [ 1.20151526e-02 6.39957764e-05 9.99927813e-01 3.27866141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08028169299996 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:263.51, Y:93.62, Z:3.28 [[ 7.64092779e-01 -6.45041606e-01 -9.14066366e-03 2.63509715e+02] [ 6.44994466e-01 7.64147448e-01 -7.79847754e-03 9.36195820e+01] [ 1.20151573e-02 6.30828942e-05 9.99927813e-01 3.28303975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14028169299996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:263.55, Y:93.66, Z:3.29 [[ 7.63294215e-01 -6.45986390e-01 -9.13923544e-03 2.63554532e+02] [ 6.45939297e-01 7.63348925e-01 -7.80015095e-03 9.36555094e+01] [ 1.20152169e-02 5.04187842e-05 9.99927813e-01 3.28830297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20028169299997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:263.60, Y:93.69, Z:3.29 [[ 7.61729786e-01 -6.47830406e-01 -9.13773523e-03 2.63598776e+02] [ 6.47783425e-01 7.61784592e-01 -7.80190802e-03 9.36923010e+01] [ 1.20152991e-02 2.36722985e-05 9.99927813e-01 3.28516632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26028169299997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:263.64, Y:93.73, Z:3.29 [[ 7.61210492e-01 -6.48440527e-01 -9.13621246e-03 2.63644874e+02] [ 6.48393568e-01 7.61265317e-01 -7.80369082e-03 9.37258487e+01] [ 1.20153111e-02 1.63899286e-05 9.99927813e-01 3.28557820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32028169299997 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:263.69, Y:93.76, Z:3.29 [[ 7.61521537e-01 -6.48075229e-01 -9.13485952e-03 2.63688301e+02] [ 6.48028225e-01 7.61576324e-01 -7.80527422e-03 9.37623530e+01] [ 1.20152976e-02 2.42376268e-05 9.99927813e-01 3.28746179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.380281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:263.73, Y:93.80, Z:3.29 [[ 7.63988455e-01 -6.45165268e-01 -9.13338282e-03 2.63731132e+02] [ 6.45118035e-01 7.64043043e-01 -7.80700181e-03 9.38015599e+01] [ 1.20151040e-02 7.23492699e-05 9.99927813e-01 3.29103855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.440281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:263.77, Y:93.84, Z:3.29 [[ 7.66463395e-01 -6.42223070e-01 -9.13191249e-03 2.63773775e+02] [ 6.42175607e-01 7.66517784e-01 -7.80872129e-03 9.38411333e+01] [ 1.20147143e-02 1.20807581e-04 9.99927813e-01 3.29268027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.500281693 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:263.82, Y:93.88, Z:3.29 [[ 7.62209620e-01 -6.47265888e-01 -9.13044997e-03 2.63819564e+02] [ 6.47218765e-01 7.62264303e-01 -7.81043098e-03 9.38753940e+01] [ 1.20152416e-02 4.37870833e-05 9.99927813e-01 3.29403488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.560281693 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:263.86, Y:93.91, Z:3.29 [[ 7.53905914e-01 -6.56918964e-01 -9.12946186e-03 2.63864874e+02] [ 6.56872527e-01 7.53961181e-01 -7.81158579e-03 9.39099435e+01] [ 1.20148387e-02 -1.07691958e-04 9.99927813e-01 3.28995466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.620281693 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:263.91, Y:93.94, Z:3.30 [[ 7.50259327e-01 -6.61080647e-01 -9.12795007e-03 2.63914174e+02] [ 6.61034495e-01 7.50314833e-01 -7.81335194e-03 9.39414018e+01] [ 1.20140921e-02 -1.71849687e-04 9.99927813e-01 3.29551533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.680281693 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:263.96, Y:93.98, Z:3.30 [[ 7.50326472e-01 -6.61004456e-01 -9.12653620e-03 2.63958912e+02] [ 6.60958278e-01 7.50381956e-01 -7.81500309e-03 9.39779026e+01] [ 1.20141400e-02 -1.68455957e-04 9.99927813e-01 3.29639866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.740281693 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:264.01, Y:94.01, Z:3.29 [[ 7.53451853e-01 -6.57439760e-01 -9.12513415e-03 2.64007502e+02] [ 6.57393299e-01 7.53507100e-01 -7.81663984e-03 9.40103115e+01] [ 1.20148232e-02 -1.09340278e-04 9.99927813e-01 3.28833030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.800281693 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:264.05, Y:94.05, Z:3.29 [[ 7.53812037e-01 -6.57026766e-01 -9.12369437e-03 2.64053759e+02] [ 6.56980255e-01 7.53867242e-01 -7.81832001e-03 9.40459209e+01] [ 1.20148998e-02 -1.00543328e-04 9.99927813e-01 3.29019200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.860281693 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:264.10, Y:94.08, Z:3.29 [[ 7.54142819e-01 -6.56647085e-01 -9.12219520e-03 2.64099807e+02] [ 6.56600525e-01 7.54197983e-01 -7.82006881e-03 9.40814030e+01] [ 1.20149666e-02 -9.21894131e-05 9.99927813e-01 3.29077864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.920281693 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:264.14, Y:94.12, Z:3.30 [[ 7.56514444e-01 -6.53913381e-01 -9.12064056e-03 2.64143997e+02] [ 6.53866599e-01 7.56569421e-01 -7.82188159e-03 9.41179184e+01] [ 1.20152308e-02 -4.63158175e-05 9.99927813e-01 3.29833064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98028169299994 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:264.19, Y:94.15, Z:3.30 [[ 7.59957049e-01 -6.49909314e-01 -9.11959983e-03 2.64188785e+02] [ 6.49862229e-01 7.60011765e-01 -7.82309479e-03 9.41548252e+01] [ 1.20153053e-02 1.87325620e-05 9.99927813e-01 3.29755699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04028169299994 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:264.23, Y:94.19, Z:3.30 [[ 7.61220795e-01 -6.48428686e-01 -9.11811284e-03 2.64233839e+02] [ 6.48381473e-01 7.61275402e-01 -7.82482756e-03 9.41904376e+01] [ 1.20152377e-02 4.44060238e-05 9.99927813e-01 3.29686382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10028169299994 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:264.28, Y:94.23, Z:3.30 [[ 7.62652539e-01 -6.46744148e-01 -9.11655592e-03 2.64279557e+02] [ 6.46696793e-01 7.62707022e-01 -7.82664107e-03 9.42264939e+01] [ 1.20150955e-02 7.33602121e-05 9.99927813e-01 3.29968359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16028169299994 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:264.32, Y:94.26, Z:3.30 [[ 7.63533024e-01 -6.45704450e-01 -9.11507097e-03 2.64322756e+02] [ 6.45657000e-01 7.63587424e-01 -7.82837010e-03 9.42630583e+01] [ 1.20149670e-02 9.20097175e-05 9.99927813e-01 3.29787241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22028169299995 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:264.37, Y:94.30, Z:3.30 [[ 7.64999031e-01 -6.43966942e-01 -9.11374822e-03 2.64365188e+02] [ 6.43919350e-01 7.65053308e-01 -7.82990973e-03 9.43018588e+01] [ 1.20147062e-02 1.21354528e-04 9.99927813e-01 3.30109660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28028169299995 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:264.41, Y:94.34, Z:3.30 [[ 7.64097607e-01 -6.45036288e-01 -9.11228149e-03 2.64410802e+02] [ 6.44988752e-01 7.64151932e-01 -7.83161631e-03 9.43359082e+01] [ 1.20148442e-02 1.06800214e-04 9.99927813e-01 3.30432023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34028169299995 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:264.46, Y:94.37, Z:3.30 [[ 7.60663674e-01 -6.49082251e-01 -9.11074171e-03 2.64459073e+02] [ 6.49034983e-01 7.60718232e-01 -7.83340716e-03 9.43695333e+01] [ 1.20152329e-02 4.53981866e-05 9.99927813e-01 3.29873548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40028169299995 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:264.51, Y:94.40, Z:3.30 [[ 7.56827945e-01 -6.53550673e-01 -9.10930206e-03 2.64510722e+02] [ 6.53503707e-01 7.56882763e-01 -7.83508095e-03 9.43975729e+01] [ 1.20152961e-02 -2.31544517e-05 9.99927813e-01 3.29902499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46028169299996 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:264.56, Y:94.43, Z:3.30 [[ 7.58940518e-01 -6.51096259e-01 -9.10778333e-03 2.64561203e+02] [ 6.51049094e-01 7.58995165e-01 -7.83684598e-03 9.44265446e+01] [ 1.20153046e-02 1.80858620e-05 9.99927813e-01 3.29971553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52028169299996 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:264.61, Y:94.46, Z:3.30 [[ 7.65536551e-01 -6.43327961e-01 -9.10627972e-03 2.64610471e+02] [ 6.43280220e-01 7.65590696e-01 -7.83859276e-03 9.44585046e+01] [ 1.20144689e-02 1.42839637e-04 9.99927813e-01 3.30097615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58028169299996 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:264.66, Y:94.49, Z:3.30 [[ 7.70050128e-01 -6.37918413e-01 -9.10486595e-03 2.64656287e+02] [ 6.37870273e-01 7.70103919e-01 -7.84023457e-03 9.44920537e+01] [ 1.20131229e-02 2.29650303e-04 9.99927813e-01 3.29620553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64028169299996 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:264.70, Y:94.52, Z:3.30 [[ 7.71674873e-01 -6.35952056e-01 -9.10339820e-03 2.64703034e+02] [ 6.35903759e-01 7.71728523e-01 -7.84193841e-03 9.45249362e+01] [ 1.20124489e-02 2.62541692e-04 9.99927813e-01 3.30351307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70028169299997 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:264.75, Y:94.56, Z:3.31 [[ 7.73213906e-01 -6.34079972e-01 -9.10195461e-03 2.64747821e+02] [ 6.34031525e-01 7.73267420e-01 -7.84361361e-03 9.45623280e+01] [ 1.20117233e-02 2.93864949e-04 9.99927813e-01 3.30527657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76028169299997 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:264.79, Y:94.60, Z:3.31 [[ 7.75283133e-01 -6.31548290e-01 -9.10061233e-03 2.64789012e+02] [ 6.31499650e-01 7.75336472e-01 -7.84517068e-03 9.46033009e+01] [ 1.20106408e-02 3.35195002e-04 9.99927813e-01 3.31354579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82028169299997 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:264.83, Y:94.64, Z:3.31 [[ 7.78277183e-01 -6.27854944e-01 -9.09925356e-03 2.64830110e+02] [ 6.27806032e-01 7.78330273e-01 -7.84674634e-03 9.46445318e+01] [ 1.20088430e-02 3.94377364e-04 9.99927813e-01 3.31457969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.880281693 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:264.86, Y:94.69, Z:3.31 [[ 7.82185057e-01 -6.22979748e-01 -9.09783445e-03 2.64864405e+02] [ 6.22930487e-01 7.82237822e-01 -7.84839138e-03 9.46936213e+01] [ 1.20060591e-02 4.71576007e-04 9.99927813e-01 3.30900522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.940281693 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:264.90, Y:94.74, Z:3.31 [[ 7.81226622e-01 -6.24181240e-01 -9.09645418e-03 2.64902886e+02] [ 6.24132041e-01 7.81279446e-01 -7.84999081e-03 9.47381560e+01] [ 1.20066897e-02 4.55233292e-04 9.99927813e-01 3.31048398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.000281693 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:264.94, Y:94.78, Z:3.31 [[ 7.78742492e-01 -6.27277779e-01 -9.09500339e-03 2.64940385e+02] [ 6.27228771e-01 7.78795493e-01 -7.85167134e-03 9.47842111e+01] [ 1.20083266e-02 4.09782306e-04 9.99927813e-01 3.30670076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.060281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:264.98, Y:94.83, Z:3.31 [[ 7.75164849e-01 -6.31693568e-01 -9.09355589e-03 2.64978059e+02] [ 6.31644843e-01 7.75218110e-01 -7.85334743e-03 9.48300653e+01] [ 1.20103983e-02 3.43741192e-04 9.99927813e-01 3.30527755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.120281693 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:265.02, Y:94.87, Z:3.31 [[ 7.72154771e-01 -6.35369455e-01 -9.09209580e-03 2.65015838e+02] [ 6.35320963e-01 7.72208244e-01 -7.85503746e-03 9.48728739e+01] [ 1.20118422e-02 2.88905586e-04 9.99927813e-01 3.30798741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.180281693 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:265.05, Y:94.92, Z:3.30 [[ 7.70820467e-01 -6.36987571e-01 -9.09078498e-03 2.65053111e+02] [ 6.36939174e-01 7.70874026e-01 -7.85655420e-03 9.49171305e+01] [ 1.20123774e-02 2.65715706e-04 9.99927813e-01 3.30414647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.240281693 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:265.09, Y:94.96, Z:3.31 [[ 7.68049549e-01 -6.40325912e-01 -9.08936260e-03 2.65092300e+02] [ 6.40277728e-01 7.68103300e-01 -7.85819943e-03 9.49604462e+01] [ 1.20133781e-02 2.15770090e-04 9.99927813e-01 3.31033467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.300281693 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:265.13, Y:95.00, Z:3.31 [[ 7.62263603e-01 -6.47202911e-01 -9.08792904e-03 2.65131665e+02] [ 6.47155193e-01 7.62317768e-01 -7.85985698e-03 9.50022445e+01] [ 1.20148121e-02 1.09982437e-04 9.99927813e-01 3.30991199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.360281693 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:265.17, Y:95.04, Z:3.32 [[ 7.57794317e-01 -6.52430227e-01 -9.08688220e-03 2.65173943e+02] [ 6.52382868e-01 7.57848796e-01 -7.86106706e-03 9.50421277e+01] [ 1.20152805e-02 2.89456714e-05 9.99927813e-01 3.31778768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.420281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:265.22, Y:95.08, Z:3.32 [[ 7.55806713e-01 -6.54731752e-01 -9.08546515e-03 2.65218524e+02] [ 6.54684538e-01 7.55861319e-01 -7.86270447e-03 9.50797641e+01] [ 1.20153139e-02 -5.42873374e-06 9.99927813e-01 3.32304862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48028169299994 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:265.26, Y:95.11, Z:3.32 [[ 7.54255035e-01 -6.56518715e-01 -9.08403598e-03 2.65263348e+02] [ 6.56471611e-01 7.54309735e-01 -7.86435530e-03 9.51147104e+01] [ 1.20152732e-02 -3.16821477e-05 9.99927813e-01 3.31741504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54028169299994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:265.31, Y:95.15, Z:3.32 [[ 7.52012663e-01 -6.59086074e-01 -9.08299723e-03 2.65310929e+02] [ 6.59039143e-01 7.52067511e-01 -7.86555483e-03 9.51477532e+01] [ 1.20151048e-02 -7.10538663e-05 9.99927813e-01 3.31638260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60028169299994 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:265.36, Y:95.18, Z:3.32 [[ 7.49993075e-01 -6.61383334e-01 -9.08149648e-03 2.65358619e+02] [ 6.61336549e-01 7.50048048e-01 -7.86728719e-03 9.51801992e+01] [ 1.20148513e-02 -1.05514638e-04 9.99927814e-01 3.31782758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66028169299994 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:265.41, Y:95.21, Z:3.31 [[ 7.48325108e-01 -6.63269996e-01 -9.07991476e-03 2.65410366e+02] [ 6.63223328e-01 7.48380180e-01 -7.86911229e-03 9.52094278e+01] [ 1.20145743e-02 -1.33356978e-04 9.99927814e-01 3.31390782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72028169299995 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:265.46, Y:95.24, Z:3.31 [[ 7.50637262e-01 -6.60652163e-01 -9.07850036e-03 2.65462384e+02] [ 6.60605283e-01 7.50692155e-01 -7.87074373e-03 9.52376259e+01] [ 1.20149829e-02 -8.92317755e-05 9.99927814e-01 3.31088300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78028169299995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:265.51, Y:95.27, Z:3.31 [[ 7.52756315e-01 -6.58236688e-01 -9.07703845e-03 2.65511089e+02] [ 6.58189611e-01 7.52811039e-01 -7.87242933e-03 9.52703025e+01] [ 1.20152166e-02 -4.83915127e-05 9.99927814e-01 3.31109741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84028169299995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:265.56, Y:95.30, Z:3.32 [[ 7.59137794e-01 -6.50866687e-01 -9.07554505e-03 2.65561501e+02] [ 6.50819058e-01 7.59192039e-01 -7.87415060e-03 9.53012525e+01] [ 1.20151039e-02 7.10276394e-05 9.99927814e-01 3.31728827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90028169299995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:265.61, Y:95.34, Z:3.32 [[ 7.65442866e-01 -6.43439881e-01 -9.07405241e-03 2.65607868e+02] [ 6.43391706e-01 7.65496625e-01 -7.87587031e-03 9.53351903e+01] [ 1.20138056e-02 1.90358676e-04 9.99927814e-01 3.31657332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96028169299996 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:265.65, Y:95.37, Z:3.31 [[ 7.68404390e-01 -6.39900292e-01 -9.07249292e-03 2.65649898e+02] [ 6.39851848e-01 7.68457907e-01 -7.87766634e-03 9.53732466e+01] [ 1.20127499e-02 2.48182038e-04 9.99927814e-01 3.31483560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02028169299996 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:265.69, Y:95.41, Z:3.32 [[ 7.71335194e-01 -6.36364468e-01 -9.07096859e-03 2.65690812e+02] [ 6.36315758e-01 7.71388469e-01 -7.87942118e-03 9.54143590e+01] [ 1.20114242e-02 3.05674613e-04 9.99927814e-01 3.31870058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08028169299996 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:265.73, Y:95.46, Z:3.33 [[ 7.68178520e-01 -6.40171465e-01 -9.06953183e-03 2.65729882e+02] [ 6.40123000e-01 7.68232018e-01 -7.88107460e-03 9.54562830e+01] [ 1.20127438e-02 2.48456303e-04 9.99927814e-01 3.32506867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14028169299996 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:265.77, Y:95.50, Z:3.32 [[ 7.66232759e-01 -6.42499128e-01 -9.06802104e-03 2.65773010e+02] [ 6.42450805e-01 7.66286385e-01 -7.88281254e-03 9.54954694e+01] [ 1.20134013e-02 2.14311787e-04 9.99927814e-01 3.32253959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20028169299997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:265.81, Y:95.54, Z:3.32 [[ 7.65695178e-01 -6.43139715e-01 -9.06655466e-03 2.65814251e+02] [ 6.43091416e-01 7.65748826e-01 -7.88449877e-03 9.55356390e+01] [ 1.20135379e-02 2.06499212e-04 9.99927814e-01 3.32132409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26028169299997 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:265.86, Y:95.57, Z:3.32 [[ 7.67159394e-01 -6.41392461e-01 -9.06501156e-03 2.65858462e+02] [ 6.41344020e-01 7.67212914e-01 -7.88627251e-03 9.55734610e+01] [ 1.20129897e-02 2.36237083e-04 9.99927814e-01 3.31946355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32028169299997 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:265.90, Y:95.61, Z:3.31 [[ 7.70669940e-01 -6.37170068e-01 -9.06355019e-03 2.65899810e+02] [ 6.37121313e-01 7.70723175e-01 -7.88795168e-03 9.56147369e+01] [ 1.20114549e-02 3.04426253e-04 9.99927814e-01 3.31461994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.380281693 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:265.94, Y:95.66, Z:3.32 [[ 7.73659151e-01 -6.33537210e-01 -9.06209495e-03 2.65940156e+02] [ 6.33488186e-01 7.73712137e-01 -7.88962318e-03 9.56564143e+01] [ 1.20098227e-02 3.63149073e-04 9.99927814e-01 3.32116308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.440281693 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:265.98, Y:95.70, Z:3.32 [[ 7.73852292e-01 -6.33301298e-01 -9.06066333e-03 2.65978140e+02] [ 6.33252239e-01 7.73905246e-01 -7.89126695e-03 9.56991041e+01] [ 1.20096445e-02 3.68989679e-04 9.99927814e-01 3.32252599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.500281693 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:266.02, Y:95.74, Z:3.32 [[ 7.70006644e-01 -6.37971548e-01 -9.05935604e-03 2.66018539e+02] [ 6.37922793e-01 7.70059877e-01 -7.89276746e-03 9.57412274e+01] [ 1.20116077e-02 2.98313682e-04 9.99927814e-01 3.31982612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.560281693 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:266.06, Y:95.78, Z:3.32 [[ 7.67390765e-01 -6.41115722e-01 -9.05787283e-03 2.66059161e+02] [ 6.41067165e-01 7.67444179e-01 -7.89446925e-03 9.57822636e+01] [ 1.20126801e-02 2.51437944e-04 9.99927814e-01 3.31948122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.620281693 meters Centerline goodness : 0.999344 with order 1 Centerline is valid? [True, True] Translation: X:266.10, Y:95.82, Z:3.32 [[ 7.65004622e-01 -6.43961109e-01 -9.05636570e-03 2.66101367e+02] [ 6.43912730e-01 7.65058198e-01 -7.89619782e-03 9.58212282e+01] [ 1.20134911e-02 2.09118663e-04 9.99927814e-01 3.32471362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.680281693 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:266.14, Y:95.86, Z:3.33 [[ 7.63214634e-01 -6.46081597e-01 -9.05500964e-03 2.66144975e+02] [ 6.46033348e-01 7.63268327e-01 -7.89775258e-03 9.58594967e+01] [ 1.20139947e-02 1.77842145e-04 9.99927814e-01 3.32918748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.740281693 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:266.19, Y:95.90, Z:3.33 [[ 7.61662530e-01 -6.47910660e-01 -9.05353835e-03 2.66188264e+02] [ 6.47862520e-01 7.61716321e-01 -7.89943883e-03 9.58984379e+01] [ 1.20143585e-02 1.51258402e-04 9.99927814e-01 3.32666364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.800281693 meters Centerline goodness : 0.999131 with order 1 Centerline is valid? [True, True] Translation: X:266.23, Y:95.94, Z:3.33 [[ 7.60939682e-01 -6.48759479e-01 -9.05201334e-03 2.66228609e+02] [ 6.48711379e-01 7.60993507e-01 -7.90118597e-03 9.59393297e+01] [ 1.20144927e-02 1.40181881e-04 9.99927814e-01 3.32660140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.860281693 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:266.27, Y:95.98, Z:3.33 [[ 7.60365045e-01 -6.49432894e-01 -9.05065258e-03 2.66269418e+02] [ 6.49384822e-01 7.60418897e-01 -7.90274438e-03 9.59811635e+01] [ 1.20145894e-02 1.31614173e-04 9.99927814e-01 3.33191477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.920281693 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:266.31, Y:96.02, Z:3.33 [[ 7.55411547e-01 -6.55188147e-01 -9.04916665e-03 2.66311081e+02] [ 6.55140465e-01 7.55465744e-01 -7.90444550e-03 9.60212468e+01] [ 1.20152344e-02 4.26341579e-05 9.99927814e-01 3.32756253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98028169299994 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:266.36, Y:96.05, Z:3.32 [[ 7.46653143e-01 -6.65152031e-01 -9.04768089e-03 2.66357897e+02] [ 6.65105052e-01 7.46707950e-01 -7.90614578e-03 9.60536641e+01] [ 1.20147642e-02 -1.14509673e-04 9.99927814e-01 3.32414001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04028169299994 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:266.40, Y:96.09, Z:3.33 [[ 7.42127178e-01 -6.70198045e-01 -9.04611061e-03 2.66404361e+02] [ 6.70151417e-01 7.42182284e-01 -7.90794207e-03 9.60869103e+01] [ 1.20137503e-02 -1.93565112e-04 9.99927814e-01 3.32892930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10028169299994 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:266.45, Y:96.12, Z:3.33 [[ 7.42103578e-01 -6.70224198e-01 -9.04456617e-03 2.66453298e+02] [ 6.70177550e-01 7.42158667e-01 -7.90970810e-03 9.61183479e+01] [ 1.20137809e-02 -1.91642514e-04 9.99927814e-01 3.33260638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16028169299994 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:266.50, Y:96.15, Z:3.33 [[ 7.43251247e-01 -6.68951273e-01 -9.04306779e-03 2.66502163e+02] [ 6.68904510e-01 7.43306239e-01 -7.91142081e-03 9.61500283e+01] [ 1.20141237e-02 -1.68775449e-04 9.99927814e-01 3.33302823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22028169299995 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:266.55, Y:96.18, Z:3.33 [[ 7.43973563e-01 -6.68147879e-01 -9.04157718e-03 2.66548690e+02] [ 6.68101036e-01 7.44028486e-01 -7.91312399e-03 9.61847607e+01] [ 1.20143280e-02 -1.53532034e-04 9.99927814e-01 3.33201737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28028169299995 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:266.59, Y:96.22, Z:3.33 [[ 7.45963877e-01 -6.65925049e-01 -9.04008282e-03 2.66591243e+02] [ 6.65878022e-01 7.46018643e-01 -7.91483080e-03 9.62222421e+01] [ 1.20147544e-02 -1.15414603e-04 9.99927814e-01 3.32741779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34028169299995 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:266.63, Y:96.26, Z:3.33 [[ 7.48075389e-01 -6.63552196e-01 -9.03852341e-03 2.66634028e+02] [ 6.63504973e-01 7.48129987e-01 -7.91661120e-03 9.62616537e+01] [ 1.20150752e-02 -7.48832267e-05 9.99927814e-01 3.32892110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40028169299995 meters Centerline goodness : 0.999279 with order 1 Centerline is valid? [True, True] Translation: X:266.67, Y:96.30, Z:3.33 [[ 7.50739480e-01 -6.60536573e-01 -9.03707136e-03 2.66673808e+02] [ 6.60489111e-01 7.50793870e-01 -7.91826842e-03 9.63048461e+01] [ 1.20152837e-02 -2.43305151e-05 9.99927814e-01 3.33229466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46028169299996 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:266.71, Y:96.35, Z:3.33 [[ 7.52077105e-01 -6.59013192e-01 -9.03557603e-03 2.66714478e+02] [ 6.58965599e-01 7.52131380e-01 -7.91997438e-03 9.63457256e+01] [ 1.20153079e-02 2.29763070e-06 9.99927814e-01 3.33329127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52028169299996 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:266.76, Y:96.39, Z:3.33 [[ 7.52493936e-01 -6.58537214e-01 -9.03407842e-03 2.66755262e+02] [ 6.58489566e-01 7.52548163e-01 -7.92168229e-03 9.63878678e+01] [ 1.20153017e-02 1.21715064e-05 9.99927814e-01 3.33479052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58028169299996 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:266.80, Y:96.43, Z:3.34 [[ 7.53013264e-01 -6.57943338e-01 -9.03258648e-03 2.66796305e+02] [ 6.57895627e-01 7.53067436e-01 -7.92338309e-03 9.64282676e+01] [ 1.20152839e-02 2.39134133e-05 9.99927814e-01 3.33763994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64028169299996 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:266.84, Y:96.47, Z:3.33 [[ 7.53754607e-01 -6.57093929e-01 -9.03110488e-03 2.66836243e+02] [ 6.57046137e-01 7.53808707e-01 -7.92507146e-03 9.64697337e+01] [ 1.20152418e-02 3.97065536e-05 9.99927814e-01 3.33445345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70028169299997 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:266.88, Y:96.51, Z:3.33 [[ 7.53867599e-01 -6.56964315e-01 -9.02954975e-03 2.66879037e+02] [ 6.56916492e-01 7.53921672e-01 -7.92684293e-03 9.65096436e+01] [ 1.20152262e-02 4.41299017e-05 9.99927814e-01 3.33341052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76028169299997 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:266.92, Y:96.55, Z:3.34 [[ 7.54903295e-01 -6.55773977e-01 -9.02809582e-03 2.66918003e+02] [ 6.55726049e-01 7.54957275e-01 -7.92849850e-03 9.65516295e+01] [ 1.20151296e-02 6.52920431e-05 9.99927814e-01 3.33753449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82028169299997 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:266.96, Y:96.59, Z:3.34 [[ 7.57104819e-01 -6.53231057e-01 -9.02656748e-03 2.66959296e+02] [ 6.53182928e-01 7.57158619e-01 -7.93023813e-03 9.65925990e+01] [ 1.20148212e-02 1.08021731e-04 9.99927814e-01 3.33815261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.880281693 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:267.00, Y:96.64, Z:3.33 [[ 7.60060808e-01 -6.49789286e-01 -9.02511293e-03 2.66997760e+02] [ 6.49740893e-01 7.60114371e-01 -7.93189315e-03 9.66350617e+01] [ 1.20141772e-02 1.64736181e-04 9.99927814e-01 3.33438330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.940281693 meters Centerline goodness : 0.999421 with order 1 Centerline is valid? [True, True] Translation: X:267.04, Y:96.68, Z:3.33 [[ 7.62463174e-01 -6.46968687e-01 -9.02359487e-03 2.67039377e+02] [ 6.46920076e-01 7.62516539e-01 -7.93361978e-03 9.66756161e+01] [ 1.20134439e-02 2.11548242e-04 9.99927814e-01 3.33412247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.000281693 meters Centerline goodness : 0.999468 with order 1 Centerline is valid? [True, True] Translation: X:267.08, Y:96.72, Z:3.33 [[ 7.65654124e-01 -6.43189213e-01 -9.02215778e-03 2.67078821e+02] [ 6.43140319e-01 7.65707230e-01 -7.93525371e-03 9.67183875e+01] [ 1.20122010e-02 2.73146288e-04 9.99927814e-01 3.33487466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.060281693 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:267.12, Y:96.76, Z:3.34 [[ 7.67478315e-01 -6.41011437e-01 -9.02073105e-03 2.67119520e+02] [ 6.40962373e-01 7.67531264e-01 -7.93687527e-03 9.67592769e+01] [ 1.20113209e-02 3.09430477e-04 9.99927814e-01 3.33589746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.120281693 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:267.16, Y:96.80, Z:3.34 [[ 7.68504946e-01 -6.39780275e-01 -9.01931563e-03 2.67157757e+02] [ 6.39731107e-01 7.68557799e-01 -7.93848340e-03 9.68027931e+01] [ 1.20107505e-02 3.30826984e-04 9.99927814e-01 3.33971301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.180281693 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:267.19, Y:96.85, Z:3.34 [[ 7.69159452e-01 -6.38993282e-01 -9.01795082e-03 2.67194234e+02] [ 6.38944042e-01 7.69212238e-01 -7.94003349e-03 9.68470044e+01] [ 1.20103462e-02 3.45185859e-04 9.99927814e-01 3.34242912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.240281693 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:267.23, Y:96.89, Z:3.34 [[ 7.67929823e-01 -6.40470521e-01 -9.01661487e-03 2.67230805e+02] [ 6.40421365e-01 7.67982687e-01 -7.94155029e-03 9.68931446e+01] [ 1.20109330e-02 3.24120505e-04 9.99927814e-01 3.34429781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.300281693 meters Centerline goodness : 0.999112 with order 1 Centerline is valid? [True, True] Translation: X:267.27, Y:96.94, Z:3.34 [[ 7.64748571e-01 -6.44265745e-01 -9.01515315e-03 2.67268484e+02] [ 6.44216832e-01 7.64801660e-01 -7.94320928e-03 9.69360479e+01] [ 1.20123417e-02 2.66844547e-04 9.99927814e-01 3.33821835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.360281693 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:267.31, Y:96.98, Z:3.35 [[ 7.58298062e-01 -6.51845687e-01 -9.01386441e-03 2.67309469e+02] [ 6.51797287e-01 7.58351619e-01 -7.94467145e-03 9.69777577e+01] [ 1.20143785e-02 1.49216593e-04 9.99927814e-01 3.34561980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.420281693 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:267.35, Y:97.02, Z:3.34 [[ 7.54021664e-01 -6.56787718e-01 -9.01242387e-03 2.67351536e+02] [ 6.56739650e-01 7.54075519e-01 -7.94630527e-03 9.70158783e+01] [ 1.20150839e-02 7.28702241e-05 9.99927814e-01 3.34212126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48028169299994 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:267.40, Y:97.05, Z:3.35 [[ 7.49504867e-01 -6.61937503e-01 -9.01091308e-03 2.67395244e+02] [ 6.61889785e-01 7.49559032e-01 -7.94801809e-03 9.70531549e+01] [ 1.20153025e-02 -7.15308229e-06 9.99927814e-01 3.34557907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54028169299994 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:267.44, Y:97.09, Z:3.34 [[ 7.41483957e-01 -6.70910108e-01 -9.00940144e-03 2.67442499e+02] [ 6.70863024e-01 7.41538674e-01 -7.94973123e-03 9.70851608e+01] [ 1.20143746e-02 -1.49476120e-04 9.99927814e-01 3.34459504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60028169299994 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:267.49, Y:97.12, Z:3.34 [[ 7.34527180e-01 -6.78519476e-01 -9.00791034e-03 2.67491287e+02] [ 6.78472939e-01 7.34582362e-01 -7.95142045e-03 9.71163813e+01] [ 1.20122457e-02 -2.71088962e-04 9.99927814e-01 3.34441814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66028169299994 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:267.54, Y:97.15, Z:3.35 [[ 7.34911457e-01 -6.78103262e-01 -9.00644539e-03 2.67538709e+02] [ 6.78056673e-01 7.34966596e-01 -7.95307943e-03 9.71498343e+01] [ 1.20124456e-02 -2.62071195e-04 9.99927814e-01 3.34555645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72028169299995 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:267.58, Y:97.18, Z:3.35 [[ 7.38190730e-01 -6.74531952e-01 -9.00508459e-03 2.67583952e+02] [ 6.74485077e-01 7.38245627e-01 -7.95461994e-03 9.71847873e+01] [ 1.20136096e-02 -2.01768469e-04 9.99927814e-01 3.34665939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78028169299995 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:267.63, Y:97.22, Z:3.34 [[ 7.42836120e-01 -6.69412753e-01 -9.00356499e-03 2.67630067e+02] [ 6.69365479e-01 7.42890673e-01 -7.95633955e-03 9.72179072e+01] [ 1.20147396e-02 -1.16419191e-04 9.99927814e-01 3.34429681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84028169299995 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:267.68, Y:97.25, Z:3.34 [[ 7.44105887e-01 -6.68001038e-01 -9.00238733e-03 2.67675103e+02] [ 6.67953644e-01 7.44160336e-01 -7.95767181e-03 9.72535420e+01] [ 1.20149526e-02 -9.18269825e-05 9.99927814e-01 3.34458800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90028169299995 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:267.72, Y:97.29, Z:3.34 [[ 7.47421137e-01 -6.64289566e-01 -9.00088614e-03 2.67719993e+02] [ 6.64241882e-01 7.47475331e-01 -7.95936943e-03 9.72891821e+01] [ 1.20152664e-02 -2.97645989e-05 9.99927814e-01 3.34452371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96028169299996 meters Centerline goodness : 0.999234 with order 1 Centerline is valid? [True, True] Translation: X:267.76, Y:97.33, Z:3.35 [[ 7.53333902e-01 -6.57576644e-01 -8.99938967e-03 2.67762103e+02] [ 6.57528456e-01 7.53387650e-01 -7.96106109e-03 9.73271843e+01] [ 1.20150369e-02 7.99824296e-05 9.99927814e-01 3.34743748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02028169299996 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:267.80, Y:97.37, Z:3.35 [[ 7.59380205e-01 -6.50584923e-01 -8.99788951e-03 2.67803626e+02] [ 6.50536220e-01 7.59433487e-01 -7.96275626e-03 9.73672799e+01] [ 1.20137478e-02 1.93306451e-04 9.99927814e-01 3.34503545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08028169299996 meters Centerline goodness : 0.999301 with order 1 Centerline is valid? [True, True] Translation: X:267.84, Y:97.41, Z:3.34 [[ 7.63757784e-01 -6.45440246e-01 -8.99642541e-03 2.67844025e+02] [ 6.45391165e-01 7.63810717e-01 -7.96441008e-03 9.74094184e+01] [ 1.20121169e-02 2.76666718e-04 9.99927814e-01 3.34433986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14028169299996 meters Centerline goodness : 0.999300 with order 1 Centerline is valid? [True, True] Translation: X:267.88, Y:97.45, Z:3.35 [[ 7.66292561e-01 -6.42428830e-01 -8.99497729e-03 2.67881412e+02] [ 6.42379521e-01 7.66345283e-01 -7.96604524e-03 9.74547497e+01] [ 1.20108755e-02 3.26132006e-04 9.99927814e-01 3.35121945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20028169299997 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:267.92, Y:97.50, Z:3.35 [[ 7.68138111e-01 -6.40221023e-01 -8.99353331e-03 2.67918057e+02] [ 6.40171544e-01 7.68190673e-01 -7.96767514e-03 9.75007823e+01] [ 1.20098215e-02 3.62870822e-04 9.99927814e-01 3.35250887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26028169299997 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:267.96, Y:97.54, Z:3.36 [[ 7.68010150e-01 -6.40374541e-01 -8.99204767e-03 2.67956502e+02] [ 6.40325054e-01 7.68062703e-01 -7.96935143e-03 9.75437861e+01] [ 1.20098262e-02 3.62709375e-04 9.99927814e-01 3.35589195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32028169299997 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:268.00, Y:97.59, Z:3.36 [[ 7.63440479e-01 -6.45815610e-01 -8.99071882e-03 2.67995631e+02] [ 6.45766480e-01 7.63493366e-01 -7.97085031e-03 9.75875936e+01] [ 1.20120537e-02 2.79364937e-04 9.99927814e-01 3.35621725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.380281693 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:268.04, Y:97.63, Z:3.36 [[ 7.52284969e-01 -6.58776531e-01 -8.98924214e-03 2.68039465e+02] [ 6.58728292e-01 7.52338671e-01 -7.97251531e-03 9.76258944e+01] [ 1.20150605e-02 7.61353121e-05 9.99927814e-01 3.35728760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.440281693 meters Centerline goodness : 0.999278 with order 1 Centerline is valid? [True, True] Translation: X:268.08, Y:97.66, Z:3.35 [[ 7.44303829e-01 -6.67780676e-01 -8.98773794e-03 2.68084132e+02] [ 6.67733066e-01 7.44358089e-01 -7.97421069e-03 9.76607322e+01] [ 1.20151192e-02 -6.61742682e-05 9.99927814e-01 3.35451843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.500281693 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:268.13, Y:97.69, Z:3.35 [[ 7.36365456e-01 -6.76524323e-01 -8.98639312e-03 2.68132432e+02] [ 6.76477339e-01 7.36420259e-01 -7.97572592e-03 9.76942867e+01] [ 1.20135345e-02 -2.06042250e-04 9.99927814e-01 3.35213872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.560281693 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:268.18, Y:97.73, Z:3.35 [[ 7.35956843e-01 -6.76968830e-01 -8.98490018e-03 2.68177652e+02] [ 6.76921859e-01 7.36011656e-01 -7.97740741e-03 9.77297342e+01] [ 1.20134474e-02 -2.11047759e-04 9.99927814e-01 3.35205007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.620281693 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:268.22, Y:97.76, Z:3.35 [[ 7.43697726e-01 -6.68455676e-01 -8.98333891e-03 2.68224315e+02] [ 6.68408056e-01 7.43751977e-01 -7.97916517e-03 9.77628660e+01] [ 1.20150943e-02 -7.04491032e-05 9.99927814e-01 3.34766214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.680281693 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:268.27, Y:97.80, Z:3.35 [[ 7.50098653e-01 -6.61264952e-01 -8.98182356e-03 2.68268494e+02] [ 6.61216791e-01 7.50152425e-01 -7.98087058e-03 9.78010666e+01] [ 1.20152067e-02 4.75077194e-05 9.99927814e-01 3.34940711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.740281693 meters Centerline goodness : 0.999447 with order 1 Centerline is valid? [True, True] Translation: X:268.31, Y:97.84, Z:3.35 [[ 7.54486284e-01 -6.56254372e-01 -8.98037392e-03 2.68311423e+02] [ 6.56205834e-01 7.54539716e-01 -7.98250143e-03 9.78388154e+01] [ 1.20146002e-02 1.29714078e-04 9.99927814e-01 3.35199297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.800281693 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:268.35, Y:97.88, Z:3.36 [[ 7.64992827e-01 -6.43976207e-01 -8.97884024e-03 2.68349574e+02] [ 6.43926792e-01 7.65045448e-01 -7.98422616e-03 9.78819129e+01] [ 1.20108725e-02 3.26159949e-04 9.99927814e-01 3.35605143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.860281693 meters Centerline goodness : 0.999470 with order 1 Centerline is valid? [True, True] Translation: X:268.39, Y:97.93, Z:3.36 [[ 7.72965508e-01 -6.34384529e-01 -8.97733305e-03 2.68386010e+02] [ 6.34334442e-01 7.73017491e-01 -7.98592046e-03 9.79285358e+01] [ 1.20057799e-02 4.78209515e-04 9.99927814e-01 3.36075621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.920281693 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:268.42, Y:97.97, Z:3.36 [[ 7.76666815e-01 -6.29847674e-01 -8.97582854e-03 2.68422397e+02] [ 6.29797264e-01 7.76718484e-01 -7.98761111e-03 9.79739001e+01] [ 1.20026702e-02 5.50760215e-04 9.99927814e-01 3.36238587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98028169299994 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:268.46, Y:98.02, Z:3.36 [[ 7.77387044e-01 -6.28958533e-01 -8.97481072e-03 2.68456244e+02] [ 6.28908051e-01 7.77438643e-01 -7.98875456e-03 9.80236104e+01] [ 1.20019600e-02 5.66023588e-04 9.99927814e-01 3.35916126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04028169299994 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:268.49, Y:98.07, Z:3.36 [[ 7.73147715e-01 -6.34162512e-01 -8.97330592e-03 2.68489568e+02] [ 6.34112357e-01 7.73199632e-01 -7.99044446e-03 9.80714588e+01] [ 1.20053972e-02 4.87709703e-04 9.99927814e-01 3.36104429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10028169299994 meters Centerline goodness : 0.999471 with order 1 Centerline is valid? [True, True] Translation: X:268.52, Y:98.12, Z:3.36 [[ 7.68121460e-01 -6.40241298e-01 -8.97228527e-03 2.68523859e+02] [ 6.40191542e-01 7.68173759e-01 -7.99159036e-03 9.81203771e+01] [ 1.20088203e-02 3.94530916e-04 9.99927814e-01 3.36135704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16028169299994 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:268.56, Y:98.17, Z:3.36 [[ 7.65991058e-01 -6.42788631e-01 -8.97082611e-03 2.68556863e+02] [ 6.42739029e-01 7.66043503e-01 -7.99322798e-03 9.81699141e+01] [ 1.20099991e-02 3.56841088e-04 9.99927814e-01 3.35951877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22028169299995 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:268.59, Y:98.22, Z:3.36 [[ 7.64108533e-01 -6.45025350e-01 -8.96931615e-03 2.68590806e+02] [ 6.44975882e-01 7.64161104e-01 -7.99492197e-03 9.82169717e+01] [ 1.20109299e-02 3.23995505e-04 9.99927814e-01 3.36297831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28028169299995 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:268.63, Y:98.26, Z:3.36 [[ 7.60558256e-01 -6.49207760e-01 -8.96794703e-03 2.68626385e+02] [ 6.49158563e-01 7.60611081e-01 -7.99645742e-03 9.82636183e+01] [ 1.20124821e-02 2.60152105e-04 9.99927814e-01 3.36310836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34028169299995 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:268.66, Y:98.31, Z:3.36 [[ 7.58480420e-01 -6.51634142e-01 -8.96645927e-03 2.68664709e+02] [ 6.51585094e-01 7.58533384e-01 -7.99812531e-03 9.83082436e+01] [ 1.20132102e-02 2.24010234e-04 9.99927814e-01 3.36165693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40028169299995 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:268.70, Y:98.35, Z:3.37 [[ 7.55009630e-01 -6.55652414e-01 -8.96498015e-03 2.68700358e+02] [ 6.55603629e-01 7.55062835e-01 -7.99978288e-03 9.83545350e+01] [ 1.20142003e-02 1.62439587e-04 9.99927814e-01 3.36702746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46028169299996 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:268.74, Y:98.40, Z:3.37 [[ 7.51039746e-01 -6.60196143e-01 -8.96399889e-03 2.68739973e+02] [ 6.60147666e-01 7.51093233e-01 -8.00088227e-03 9.83967717e+01] [ 1.20149505e-02 9.14176342e-05 9.99927814e-01 3.36829132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52028169299996 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:268.78, Y:98.44, Z:3.37 [[ 7.42814928e-01 -6.69436819e-01 -8.96256630e-03 2.68782809e+02] [ 6.69388989e-01 7.42868994e-01 -8.00248672e-03 9.84362694e+01] [ 1.20151719e-02 -5.50765923e-05 9.99927814e-01 3.37038086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58028169299996 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:268.83, Y:98.47, Z:3.37 [[ 7.32566034e-01 -6.80636985e-01 -8.96108079e-03 2.68829306e+02] [ 6.80589961e-01 7.32620802e-01 -8.00414984e-03 9.84702873e+01] [ 1.20129946e-02 -2.35253318e-04 9.99927814e-01 3.36727770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64028169299996 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:268.88, Y:98.50, Z:3.37 [[ 7.25199268e-01 -6.88480747e-01 -8.96007938e-03 2.68878899e+02] [ 6.88434301e-01 7.25254527e-01 -8.00527069e-03 9.85016460e+01] [ 1.20098129e-02 -3.63009540e-04 9.99927814e-01 3.36686911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70028169299997 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:268.93, Y:98.53, Z:3.37 [[ 7.22158765e-01 -6.91669330e-01 -8.95855967e-03 2.68932750e+02] [ 6.91623107e-01 7.22214211e-01 -8.00697100e-03 9.85287837e+01] [ 1.20081754e-02 -4.13642580e-04 9.99927814e-01 3.36880374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76028169299997 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:268.99, Y:98.56, Z:3.37 [[ 7.20397813e-01 -6.93503253e-01 -8.95705575e-03 2.68985618e+02] [ 6.93457150e-01 7.20453359e-01 -8.00865302e-03 9.85555939e+01] [ 1.20071678e-02 -4.41918232e-04 9.99927814e-01 3.36726114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82028169299997 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:269.04, Y:98.58, Z:3.37 [[ 7.19606931e-01 -6.94323887e-01 -8.95572962e-03 2.69040157e+02] [ 6.94277829e-01 7.19662514e-01 -8.01013571e-03 9.85820769e+01] [ 1.20067315e-02 -4.53615339e-04 9.99927814e-01 3.36616996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.880281693 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:269.09, Y:98.61, Z:3.37 [[ 7.19617364e-01 -6.94313092e-01 -8.95432857e-03 2.69092591e+02] [ 6.94267013e-01 7.19672931e-01 -8.01170159e-03 9.86101349e+01] [ 1.20068172e-02 -4.51335371e-04 9.99927814e-01 3.37099545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.940281693 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:269.15, Y:98.64, Z:3.38 [[ 7.22631040e-01 -6.91175973e-01 -8.95285676e-03 2.69145708e+02] [ 6.91129633e-01 7.22686389e-01 -8.01334596e-03 9.86376951e+01] [ 1.20087399e-02 -3.96892087e-04 9.99927814e-01 3.37534143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.000281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:269.19, Y:98.67, Z:3.38 [[ 7.25738080e-01 -6.87912867e-01 -8.95137887e-03 2.69192678e+02] [ 6.87866258e-01 7.25793202e-01 -8.01499652e-03 9.86700784e+01] [ 1.20104692e-02 -3.40563299e-04 9.99927814e-01 3.37864034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.060281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:269.24, Y:98.70, Z:3.37 [[ 7.32252173e-01 -6.80974783e-01 -8.94982501e-03 2.69241947e+02] [ 6.80927630e-01 7.32306831e-01 -8.01673123e-03 9.87021684e+01] [ 1.20132098e-02 -2.23914275e-04 9.99927814e-01 3.37356919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.120281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:269.29, Y:98.74, Z:3.37 [[ 7.34109135e-01 -6.78972536e-01 -8.94834625e-03 2.69286212e+02] [ 6.78925214e-01 7.34163646e-01 -8.01838150e-03 9.87384201e+01] [ 1.20138113e-02 -1.88890790e-04 9.99927814e-01 3.37440237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.180281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:269.33, Y:98.78, Z:3.38 [[ 7.36625926e-01 -6.76241229e-01 -8.94678384e-03 2.69328984e+02] [ 6.76193684e-01 7.36680243e-01 -8.02012443e-03 9.87778923e+01] [ 1.20144577e-02 -1.41927130e-04 9.99927814e-01 3.38074901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.240281693 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:269.37, Y:98.82, Z:3.38 [[ 7.41445360e-01 -6.70953620e-01 -8.94526407e-03 2.69371238e+02] [ 6.70905667e-01 7.41499317e-01 -8.02181916e-03 9.88177090e+01] [ 1.20151758e-02 -5.36877598e-05 9.99927814e-01 3.38099767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.300281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:269.41, Y:98.86, Z:3.38 [[ 7.43723980e-01 -6.68426997e-01 -8.94375057e-03 2.69413435e+02] [ 6.68378840e-01 7.43777755e-01 -8.02350624e-03 9.88559626e+01] [ 1.20152909e-02 -1.05396442e-05 9.99927814e-01 3.37534676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.360281693 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:269.46, Y:98.89, Z:3.37 [[ 7.45195294e-01 -6.66786327e-01 -8.94242993e-03 2.69456380e+02] [ 6.66738034e-01 7.45248947e-01 -8.02497786e-03 9.88935022e+01] [ 1.20152820e-02 1.79175847e-05 9.99927814e-01 3.37257870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.420281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:269.50, Y:98.93, Z:3.38 [[ 7.47411359e-01 -6.64301378e-01 -8.94089898e-03 2.69498427e+02] [ 6.64252886e-01 7.47464833e-01 -8.02668318e-03 9.89334626e+01] [ 1.20151443e-02 6.02162378e-05 9.99927814e-01 3.38267250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:269.54, Y:98.97, Z:3.39 [[ 7.46088440e-01 -6.65786848e-01 -8.93939454e-03 2.69539597e+02] [ 6.65738442e-01 7.46141992e-01 -8.02835835e-03 9.89730120e+01] [ 1.20152330e-02 3.85667681e-05 9.99927814e-01 3.38591465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54028169299994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:269.58, Y:99.01, Z:3.38 [[ 7.43857452e-01 -6.68278539e-01 -8.93780936e-03 2.69583225e+02] [ 6.68230292e-01 7.43911146e-01 -8.03012271e-03 9.90114861e+01] [ 1.20152947e-02 7.51661819e-07 9.99927814e-01 3.37709769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60028169299994 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:269.62, Y:99.05, Z:3.38 [[ 7.43407990e-01 -6.68778515e-01 -8.93633215e-03 2.69624025e+02] [ 6.68730284e-01 7.43461699e-01 -8.03176628e-03 9.90505349e+01] [ 1.20152934e-02 -5.11670898e-06 9.99927814e-01 3.38166297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66028169299994 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:269.67, Y:99.09, Z:3.38 [[ 7.43422770e-01 -6.68762106e-01 -8.93478046e-03 2.69666090e+02] [ 6.68713853e-01 7.43476459e-01 -8.03349206e-03 9.90900075e+01] [ 1.20152940e-02 -2.53054674e-06 9.99927814e-01 3.38310921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72028169299995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:269.71, Y:99.13, Z:3.38 [[ 7.40207316e-01 -6.72319362e-01 -8.93333574e-03 2.69711866e+02] [ 6.72271348e-01 7.40261219e-01 -8.03509828e-03 9.91250554e+01] [ 1.20151542e-02 -5.79871265e-05 9.99927814e-01 3.38403659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78028169299995 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:269.76, Y:99.16, Z:3.38 [[ 7.37313617e-01 -6.75491564e-01 -8.93179170e-03 2.69756938e+02] [ 6.75443761e-01 7.37367707e-01 -8.03681427e-03 9.91604719e+01] [ 1.20148150e-02 -1.07270385e-04 9.99927814e-01 3.38375674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84028169299995 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:269.80, Y:99.20, Z:3.38 [[ 7.38177278e-01 -6.74547662e-01 -8.93073903e-03 2.69802426e+02] [ 6.74499776e-01 7.38231294e-01 -8.03798386e-03 9.91960605e+01] [ 1.20149542e-02 -9.03244304e-05 9.99927814e-01 3.37938557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90028169299995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:269.85, Y:99.23, Z:3.38 [[ 7.42380216e-01 -6.69919310e-01 -8.92934896e-03 2.69848571e+02] [ 6.69871068e-01 7.42433915e-01 -8.03952778e-03 9.92319559e+01] [ 1.20152864e-02 -1.31261512e-05 9.99927814e-01 3.37996423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:269.90, Y:99.27, Z:3.38 [[ 7.45078940e-01 -6.66916536e-01 -8.92790394e-03 2.69895511e+02] [ 6.66868059e-01 7.45132426e-01 -8.04113215e-03 9.92661188e+01] [ 1.20152347e-02 3.75442518e-05 9.99927814e-01 3.38254823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02028169299996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:269.94, Y:99.30, Z:3.39 [[ 7.45404395e-01 -6.66552778e-01 -8.92646156e-03 2.69941330e+02] [ 6.66504255e-01 7.45457841e-01 -8.04273302e-03 9.93011949e+01] [ 1.20152068e-02 4.55639277e-05 9.99927814e-01 3.38648987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.99, Y:99.34, Z:3.38 [[ 7.46023915e-01 -6.65859341e-01 -8.92502705e-03 2.69987834e+02] [ 6.65810749e-01 7.46077298e-01 -8.04432458e-03 9.93360997e+01] [ 1.20151487e-02 5.88795752e-05 9.99927814e-01 3.38219555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.03, Y:99.37, Z:3.39 [[ 7.45561301e-01 -6.66377307e-01 -8.92358915e-03 2.70034310e+02] [ 6.66328734e-01 7.45614700e-01 -8.04591934e-03 9.93707688e+01] [ 1.20151773e-02 5.26822332e-05 9.99927814e-01 3.38849383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.08, Y:99.41, Z:3.39 [[ 7.46881500e-01 -6.64897301e-01 -8.92208565e-03 2.70077917e+02] [ 6.64848602e-01 7.46934785e-01 -8.04758622e-03 9.94078398e+01] [ 1.20150345e-02 7.87571034e-05 9.99927814e-01 3.39167259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.12, Y:99.45, Z:3.39 [[ 7.49795418e-01 -6.61609595e-01 -8.92046915e-03 2.70119256e+02] [ 6.61560641e-01 7.49848469e-01 -8.04937765e-03 9.94483717e+01] [ 1.20145456e-02 1.33955201e-04 9.99927814e-01 3.38625148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32028169299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:270.16, Y:99.49, Z:3.39 [[ 7.52872089e-01 -6.58106428e-01 -8.91892709e-03 2.70157347e+02] [ 6.58057207e-01 7.52924892e-01 -8.05108593e-03 9.94915078e+01] [ 1.20137536e-02 1.92273631e-04 9.99927814e-01 3.39050327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.380281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:270.19, Y:99.54, Z:3.39 [[ 7.53945769e-01 -6.56876134e-01 -8.91754716e-03 2.70194048e+02] [ 6.56826808e-01 7.53998474e-01 -8.05261408e-03 9.95353304e+01] [ 1.20133870e-02 2.13950276e-04 9.99927814e-01 3.38681304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.440281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.23, Y:99.58, Z:3.39 [[ 7.52640355e-01 -6.58371474e-01 -8.91622463e-03 2.70232135e+02] [ 6.58322236e-01 7.52693142e-01 -8.05407818e-03 9.95791814e+01] [ 1.20137565e-02 1.92075324e-04 9.99927814e-01 3.39401386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.500281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.27, Y:99.62, Z:3.39 [[ 7.52578727e-01 -6.58441939e-01 -8.91474444e-03 2.70270521e+02] [ 6.58392687e-01 7.52631501e-01 -8.05571621e-03 9.96230599e+01] [ 1.20137389e-02 1.93158111e-04 9.99927814e-01 3.39008022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.560281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.31, Y:99.67, Z:3.40 [[ 7.52789415e-01 -6.58201071e-01 -8.91327486e-03 2.70309599e+02] [ 6.58151783e-01 7.52842155e-01 -8.05734191e-03 9.96666702e+01] [ 1.20136401e-02 1.99193965e-04 9.99927814e-01 3.39528321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.620281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.35, Y:99.71, Z:3.40 [[ 7.50426956e-01 -6.60893307e-01 -8.91178375e-03 2.70350881e+02] [ 6.60844189e-01 7.50479854e-01 -8.05899080e-03 9.97067504e+01] [ 1.20142473e-02 1.58383438e-04 9.99927814e-01 3.40031322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.680281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:270.39, Y:99.75, Z:3.40 [[ 7.46064644e-01 -6.65813903e-01 -8.91026845e-03 2.70391282e+02] [ 6.65765113e-01 7.46117845e-01 -8.06066581e-03 9.97464369e+01] [ 1.20150137e-02 8.16318832e-05 9.99927814e-01 3.39611628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.740281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.43, Y:99.79, Z:3.40 [[ 7.42704469e-01 -6.69560085e-01 -8.90866865e-03 2.70432893e+02] [ 6.69511542e-01 7.42757896e-01 -8.06243353e-03 9.97864963e+01] [ 1.20152677e-02 2.35489263e-05 9.99927814e-01 3.39591987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.800281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.47, Y:99.83, Z:3.39 [[ 7.41924409e-01 -6.70424368e-01 -8.90718098e-03 2.70474441e+02] [ 6.70375868e-01 7.41977874e-01 -8.06407674e-03 9.98262059e+01] [ 1.20152848e-02 1.17761817e-05 9.99927814e-01 3.39289709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.860281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.52, Y:99.87, Z:3.39 [[ 7.43090597e-01 -6.69131567e-01 -8.90564923e-03 2.70515800e+02] [ 6.69082954e-01 7.43143959e-01 -8.06576799e-03 9.98670028e+01] [ 1.20152394e-02 3.49782595e-05 9.99927814e-01 3.39445745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.920281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.56, Y:99.91, Z:3.40 [[ 7.44865310e-01 -6.67155444e-01 -8.90412607e-03 2.70555536e+02] [ 6.67106669e-01 7.44918525e-01 -8.06744912e-03 9.99089578e+01] [ 1.20150911e-02 6.91611021e-05 9.99927814e-01 3.39985032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.59, Y:99.95, Z:3.40 [[ 7.46928827e-01 -6.64844388e-01 -8.90315337e-03 2.70594270e+02] [ 6.64795436e-01 7.46981879e-01 -8.06852243e-03 9.99521062e+01] [ 1.20148061e-02 1.07836273e-04 9.99927814e-01 3.39605608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.63, Y:99.99, Z:3.39 [[ 7.50889716e-01 -6.60367621e-01 -8.90163844e-03 2.70634640e+02] [ 6.60318333e-01 7.50942456e-01 -8.07019344e-03 9.99940395e+01] [ 1.20139127e-02 1.81910206e-04 9.99927814e-01 3.39445646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.68, Y:100.04, Z:3.40 [[ 7.54266346e-01 -6.56508239e-01 -8.90010440e-03 2.70675348e+02] [ 6.56458660e-01 7.54318813e-01 -8.07188488e-03 1.00037192e+02] [ 1.20127751e-02 2.45800504e-04 9.99927814e-01 3.40145341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.71, Y:100.08, Z:3.40 [[ 7.59855170e-01 -6.50031486e-01 -8.89875370e-03 2.70711405e+02] [ 6.49981443e-01 7.59907194e-01 -8.07337367e-03 1.00084421e+02] [ 1.20101740e-02 3.50569950e-04 9.99927814e-01 3.40372863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.75, Y:100.13, Z:3.40 [[ 7.60076308e-01 -6.49772919e-01 -8.89720820e-03 2.70751592e+02] [ 6.49722839e-01 7.60128296e-01 -8.07507652e-03 1.00125643e+02] [ 1.20099858e-02 3.56954971e-04 9.99927814e-01 3.40375495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.79, Y:100.17, Z:3.40 [[ 7.58524535e-01 -6.51583758e-01 -8.89583697e-03 2.70790473e+02] [ 6.51533784e-01 7.58576626e-01 -8.07658684e-03 1.00169291e+02] [ 1.20107468e-02 3.30350957e-04 9.99927814e-01 3.40177662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.83, Y:100.21, Z:3.40 [[ 7.56663233e-01 -6.53744326e-01 -8.89432895e-03 2.70828129e+02] [ 6.53694481e-01 7.56715447e-01 -8.07824720e-03 1.00212301e+02] [ 1.20115844e-02 2.98338899e-04 9.99927814e-01 3.40113523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.87, Y:100.26, Z:3.41 [[ 7.54819178e-01 -6.55872639e-01 -8.89329957e-03 2.70867178e+02] [ 6.55822928e-01 7.54871520e-01 -8.07938028e-03 1.00255523e+02] [ 1.20123430e-02 2.66041416e-04 9.99927814e-01 3.40758915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.91, Y:100.30, Z:3.41 [[ 7.53554584e-01 -6.57325203e-01 -8.89194178e-03 2.70906701e+02] [ 6.57275575e-01 7.53607005e-01 -8.08087436e-03 1.00297689e+02] [ 1.20127920e-02 2.44923766e-04 9.99927814e-01 3.40908925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.95, Y:100.34, Z:3.41 [[ 7.52586676e-01 -6.58433182e-01 -8.89045204e-03 2.70948058e+02] [ 6.58383612e-01 7.52639151e-01 -8.08251301e-03 1.00337597e+02] [ 1.20130970e-02 2.29463671e-04 9.99927814e-01 3.40692368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:270.99, Y:100.38, Z:3.40 [[ 7.51689394e-01 -6.59457377e-01 -8.88944481e-03 2.70989301e+02] [ 6.59407866e-01 7.51741925e-01 -8.08362065e-03 1.00378869e+02] [ 1.20133716e-02 2.14602078e-04 9.99927814e-01 3.40023473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.03, Y:100.42, Z:3.41 [[ 7.50740483e-01 -6.60537456e-01 -8.88798791e-03 2.71027615e+02] [ 6.60488002e-01 7.50793067e-01 -8.08522221e-03 1.00422838e+02] [ 1.20136318e-02 1.99494253e-04 9.99927814e-01 3.40513137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.07, Y:100.46, Z:3.41 [[ 7.48536843e-01 -6.63033652e-01 -8.88660596e-03 2.71067094e+02] [ 6.62984354e-01 7.48589574e-01 -8.08674084e-03 1.00464855e+02] [ 1.20142019e-02 1.61542741e-04 9.99927814e-01 3.40811997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.11, Y:100.51, Z:3.41 [[ 7.44877114e-01 -6.67142518e-01 -8.88516013e-03 2.71105726e+02] [ 6.67093492e-01 7.44930098e-01 -8.08832910e-03 1.00508242e+02] [ 1.20148915e-02 9.75787376e-05 9.99927814e-01 3.40825032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.15, Y:100.55, Z:3.41 [[ 7.43224467e-01 -6.68983164e-01 -8.88362188e-03 2.71145640e+02] [ 6.68934249e-01 7.43277554e-01 -8.09001826e-03 1.00548444e+02] [ 1.20150827e-02 7.01405744e-05 9.99927814e-01 3.40601553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.880281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:271.19, Y:100.59, Z:3.40 [[ 7.43324243e-01 -6.68872316e-01 -8.88227185e-03 2.71188299e+02] [ 6.68823375e-01 7.43377307e-01 -8.09150023e-03 1.00587527e+02] [ 1.20150598e-02 7.39372456e-05 9.99927814e-01 3.40362906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.940281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.23, Y:100.63, Z:3.41 [[ 7.43685549e-01 -6.68470594e-01 -8.88080226e-03 2.71233262e+02] [ 6.68421606e-01 7.43738568e-01 -8.09311284e-03 1.00625007e+02] [ 1.20150031e-02 8.26109599e-05 9.99927814e-01 3.41139871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.000281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.27, Y:100.66, Z:3.41 [[ 7.44323683e-01 -6.67759996e-01 -8.87934813e-03 2.71274873e+02] [ 6.67710938e-01 7.44376637e-01 -8.09470793e-03 1.00664673e+02] [ 1.20149014e-02 9.62449437e-05 9.99927814e-01 3.41048548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.060281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.32, Y:100.70, Z:3.41 [[ 7.45465621e-01 -6.66484950e-01 -8.87799189e-03 2.71316677e+02] [ 6.66435784e-01 7.45518475e-01 -8.09619514e-03 1.00704840e+02] [ 1.20146992e-02 1.18823651e-04 9.99927814e-01 3.40920080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.120281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.36, Y:100.75, Z:3.41 [[ 7.46085183e-01 -6.65791340e-01 -8.87647886e-03 2.71358719e+02] [ 6.65742105e-01 7.46137972e-01 -8.09785365e-03 1.00745290e+02] [ 1.20145588e-02 1.32242895e-04 9.99927814e-01 3.41487021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.180281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.40, Y:100.79, Z:3.41 [[ 7.43070668e-01 -6.69154105e-01 -8.87496316e-03 2.71399648e+02] [ 6.69105090e-01 7.43123662e-01 -8.09951446e-03 1.00785760e+02] [ 1.20150185e-02 8.02286000e-05 9.99927814e-01 3.41148484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.240281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.44, Y:100.83, Z:3.41 [[ 7.41885297e-01 -6.70468096e-01 -8.87345599e-03 2.71439985e+02] [ 6.70419154e-01 7.41938359e-01 -8.10116531e-03 1.00828177e+02] [ 1.20151303e-02 6.12005747e-05 9.99927814e-01 3.41075321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.300281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:271.48, Y:100.87, Z:3.41 [[ 7.40298579e-01 -6.72219683e-01 -8.87192087e-03 2.71480220e+02] [ 6.72170847e-01 7.40351738e-01 -8.10284613e-03 1.00868848e+02] [ 1.20152347e-02 3.50789192e-05 9.99927814e-01 3.41173007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.360281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:271.52, Y:100.91, Z:3.42 [[ 7.35498364e-01 -6.77468427e-01 -8.87054653e-03 2.71521192e+02] [ 6.77419952e-01 7.35551853e-01 -8.10435040e-03 1.00908655e+02] [ 1.20151885e-02 -4.83487400e-05 9.99927814e-01 3.41556786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.420281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.56, Y:100.95, Z:3.41 [[ 7.32097454e-01 -6.81142172e-01 -8.86902259e-03 2.71563559e+02] [ 6.81093945e-01 7.32151166e-01 -8.10601779e-03 1.00948955e+02] [ 1.20148158e-02 -1.06242596e-04 9.99927814e-01 3.41470129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.61, Y:100.99, Z:3.41 [[ 7.28375317e-01 -6.85120985e-01 -8.86756518e-03 2.71605053e+02] [ 6.85073032e-01 7.28429274e-01 -8.10761180e-03 1.00988587e+02] [ 1.20140891e-02 -1.69545453e-04 9.99927814e-01 3.41457657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.65, Y:101.02, Z:3.42 [[ 7.22394353e-01 -6.91424460e-01 -8.86650412e-03 2.71651629e+02] [ 6.91376964e-01 7.22448712e-01 -8.10877202e-03 1.01023130e+02] [ 1.20121978e-02 -2.72365579e-04 9.99927814e-01 3.41644656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.70, Y:101.06, Z:3.42 [[ 7.17795685e-01 -6.96197360e-01 -8.86509034e-03 2.71697296e+02] [ 6.96150206e-01 7.17850342e-01 -8.11031737e-03 1.01059387e+02] [ 1.20101897e-02 -3.49883653e-04 9.99927814e-01 3.41520881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66028169299994 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:271.75, Y:101.09, Z:3.41 [[ 7.16299710e-01 -6.97736456e-01 -8.86362839e-03 2.71745454e+02] [ 6.97689400e-01 7.16354450e-01 -8.11191479e-03 1.01091522e+02] [ 1.20094783e-02 -3.73497364e-04 9.99927814e-01 3.41451821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72028169299995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:271.80, Y:101.12, Z:3.42 [[ 7.16165346e-01 -6.97874388e-01 -8.86209476e-03 2.71796863e+02] [ 6.97827321e-01 7.16220078e-01 -8.11358991e-03 1.01120566e+02] [ 1.20094768e-02 -3.73539925e-04 9.99927814e-01 3.41795534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78028169299995 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:271.85, Y:101.15, Z:3.42 [[ 7.15940497e-01 -6.98105073e-01 -8.86065542e-03 2.71847194e+02] [ 6.98058005e-01 7.15995228e-01 -8.11516147e-03 1.01150355e+02] [ 1.20094224e-02 -3.75278702e-04 9.99927814e-01 3.41615614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84028169299995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:271.90, Y:101.18, Z:3.42 [[ 7.15904982e-01 -6.98141508e-01 -8.85960474e-03 2.71895199e+02] [ 6.98094428e-01 7.15959702e-01 -8.11630837e-03 1.01183310e+02] [ 1.20094517e-02 -3.74335111e-04 9.99927814e-01 3.41748732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90028169299995 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:271.95, Y:101.21, Z:3.42 [[ 7.16632922e-01 -6.97394285e-01 -8.85816713e-03 2.71946106e+02] [ 6.97347129e-01 7.16687577e-01 -8.11787708e-03 1.01212369e+02] [ 1.20098994e-02 -3.59679441e-04 9.99927814e-01 3.41706898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96028169299996 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:272.00, Y:101.24, Z:3.42 [[ 7.17780627e-01 -6.96212993e-01 -8.85665446e-03 2.71997005e+02] [ 6.96165727e-01 7.17835186e-01 -8.11952708e-03 1.01243194e+02] [ 1.20105385e-02 -3.37660061e-04 9.99927814e-01 3.41738696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02028169299996 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:272.04, Y:101.28, Z:3.42 [[ 7.20796552e-01 -6.93090121e-01 -8.85525835e-03 2.72043134e+02] [ 6.93042599e-01 7.20850889e-01 -8.12104941e-03 1.01275543e+02] [ 1.20119400e-02 -2.83446859e-04 9.99927814e-01 3.41658895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08028169299996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:272.09, Y:101.31, Z:3.42 [[ 7.24676117e-01 -6.89032756e-01 -8.85361301e-03 2.72089041e+02] [ 6.88984909e-01 7.24730167e-01 -8.12284278e-03 1.01310484e+02] [ 1.20133852e-02 -2.13575588e-04 9.99927814e-01 3.42071696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14028169299996 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:272.13, Y:101.35, Z:3.42 [[ 7.26923331e-01 -6.86661570e-01 -8.85206355e-03 2.72133636e+02] [ 6.86613526e-01 7.26977206e-01 -8.12453098e-03 1.01347942e+02] [ 1.20140516e-02 -1.72035438e-04 9.99927814e-01 3.42458314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20028169299997 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:272.18, Y:101.39, Z:3.42 [[ 7.28212763e-01 -6.85293979e-01 -8.85065618e-03 2.72175073e+02] [ 6.85245815e-01 7.28266531e-01 -8.12606385e-03 1.01386163e+02] [ 1.20143793e-02 -1.47371705e-04 9.99927814e-01 3.42123319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26028169299997 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:272.22, Y:101.43, Z:3.42 [[ 7.26500710e-01 -6.87108735e-01 -8.84899874e-03 2.72217172e+02] [ 6.87060683e-01 7.26554579e-01 -8.12786834e-03 1.01426071e+02] [ 1.20140099e-02 -1.74897003e-04 9.99927814e-01 3.42105561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32028169299997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:272.26, Y:101.46, Z:3.42 [[ 7.20179592e-01 -6.93731272e-01 -8.84748163e-03 2.72263986e+02] [ 6.93683695e-01 7.20233880e-01 -8.12951944e-03 1.01458981e+02] [ 1.20119579e-02 -2.82639762e-04 9.99927814e-01 3.41953757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.380281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:272.31, Y:101.49, Z:3.42 [[ 7.13092193e-01 -7.01014461e-01 -8.84588920e-03 2.72311322e+02] [ 7.00967417e-01 7.13146944e-01 -8.13125182e-03 1.01493618e+02] [ 1.20085440e-02 -4.02347911e-04 9.99927814e-01 3.42301230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.440281693 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:272.36, Y:101.53, Z:3.43 [[ 7.10446401e-01 -7.03695736e-01 -8.84433752e-03 2.72358593e+02] [ 7.03648878e-01 7.10501311e-01 -8.13293922e-03 1.01525953e+02] [ 1.20070281e-02 -4.45290773e-04 9.99927814e-01 3.42674849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.500281693 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:272.41, Y:101.56, Z:3.43 [[ 7.11538762e-01 -7.02591202e-01 -8.84270536e-03 2.72407748e+02] [ 7.02544236e-01 7.11593580e-01 -8.13471344e-03 1.01558420e+02] [ 1.20077905e-02 -4.24227756e-04 9.99927814e-01 3.43147113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.560281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:272.45, Y:101.59, Z:3.43 [[ 7.16100586e-01 -6.97941103e-01 -8.84119978e-03 2.72454740e+02] [ 6.97893761e-01 7.16155080e-01 -8.13634944e-03 1.01593054e+02] [ 1.20103628e-02 -3.43773558e-04 9.99927814e-01 3.42809850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.620281693 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:272.50, Y:101.63, Z:3.42 [[ 7.16609192e-01 -6.97418902e-01 -8.83968990e-03 2.72502601e+02] [ 6.97371500e-01 7.16663634e-01 -8.13798952e-03 1.01627233e+02] [ 1.20106720e-02 -3.32789715e-04 9.99927814e-01 3.42350232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.680281693 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:272.55, Y:101.66, Z:3.43 [[ 7.16353801e-01 -6.97681245e-01 -8.83816387e-03 2.72550079e+02] [ 6.97633842e-01 7.16408242e-01 -8.13964651e-03 1.01661282e+02] [ 1.20106121e-02 -3.34935502e-04 9.99927814e-01 3.42570685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.740281693 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:272.60, Y:101.69, Z:3.43 [[ 7.17186932e-01 -6.96824811e-01 -8.83664259e-03 2.72602087e+02] [ 6.96777323e-01 7.17241299e-01 -8.14129772e-03 1.01690173e+02] [ 1.20110633e-02 -3.18339836e-04 9.99927814e-01 3.43034684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.800281693 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:272.65, Y:101.72, Z:3.43 [[ 7.17935843e-01 -6.96053207e-01 -8.83508834e-03 2.72648041e+02] [ 6.96005640e-01 7.17990140e-01 -8.14298407e-03 1.01724123e+02] [ 1.20114565e-02 -3.03131184e-04 9.99927814e-01 3.42745114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.860281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:272.70, Y:101.76, Z:3.42 [[ 7.21414346e-01 -6.92447335e-01 -8.83344761e-03 2.72696855e+02] [ 6.92399475e-01 7.21468385e-01 -8.14476353e-03 1.01756188e+02] [ 1.20128730e-02 -2.40525238e-04 9.99927814e-01 3.42330356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.920281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:272.75, Y:101.79, Z:3.43 [[ 7.23156325e-01 -6.90627921e-01 -8.83194634e-03 2.72745714e+02] [ 6.90579905e-01 7.23210226e-01 -8.14639114e-03 1.01788442e+02] [ 1.20134791e-02 -2.08050387e-04 9.99927814e-01 3.42736369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98028169299994 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:272.79, Y:101.82, Z:3.43 [[ 7.23983156e-01 -6.89761129e-01 -8.83040378e-03 2.72792185e+02] [ 6.89713027e-01 7.24036980e-01 -8.14806288e-03 1.01821563e+02] [ 1.20137559e-02 -1.91384242e-04 9.99927814e-01 3.43277064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04028169299994 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:272.84, Y:101.85, Z:3.44 [[ 7.22654690e-01 -6.91152836e-01 -8.82927652e-03 2.72843235e+02] [ 6.91104824e-01 7.22708594e-01 -8.14928420e-03 1.01852244e+02] [ 1.20133949e-02 -2.12837152e-04 9.99927814e-01 3.43726434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10028169299994 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:272.89, Y:101.88, Z:3.43 [[ 7.24085185e-01 -6.89654055e-01 -8.82776667e-03 2.72893049e+02] [ 6.89605911e-01 7.24138971e-01 -8.15091943e-03 1.01884070e+02] [ 1.20138445e-02 -1.85720083e-04 9.99927814e-01 3.43254059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16028169299994 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:272.94, Y:101.92, Z:3.43 [[ 7.28617780e-01 -6.84863657e-01 -8.82624772e-03 2.72939215e+02] [ 6.84815139e-01 7.28671229e-01 -8.15256390e-03 1.01917586e+02] [ 1.20148275e-02 -1.04245053e-04 9.99927814e-01 3.43018830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22028169299995 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:272.99, Y:101.95, Z:3.44 [[ 7.34117577e-01 -6.78965025e-01 -8.82492688e-03 2.72986515e+02] [ 6.78916060e-01 7.34170617e-01 -8.15399342e-03 1.01952310e+02] [ 1.20152784e-02 -5.39469758e-06 9.99927814e-01 3.43518766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28028169299995 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:273.03, Y:101.99, Z:3.43 [[ 7.38024436e-01 -6.74716296e-01 -8.82336646e-03 2.73028826e+02] [ 6.74667006e-01 7.38077175e-01 -8.15568159e-03 1.01991336e+02] [ 1.20150967e-02 6.62580713e-05 9.99927814e-01 3.43495338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34028169299995 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:273.07, Y:102.03, Z:3.43 [[ 7.45407482e-01 -6.66550720e-01 -8.82180999e-03 2.73066846e+02] [ 6.66500832e-01 7.45459655e-01 -8.15736484e-03 1.02034172e+02] [ 1.20136008e-02 2.00817082e-04 9.99927814e-01 3.43413420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40028169299995 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:273.10, Y:102.08, Z:3.44 [[ 7.52514305e-01 -6.58516838e-01 -8.82017762e-03 2.73103049e+02] [ 6.58466373e-01 7.52565920e-01 -8.15912946e-03 1.02080400e+02] [ 1.20106892e-02 3.32071261e-04 9.99927814e-01 3.43935972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46028169299996 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:273.14, Y:102.13, Z:3.44 [[ 7.53964400e-01 -6.56856084e-01 -8.81861310e-03 2.73137353e+02] [ 6.56805486e-01 7.54015885e-01 -8.16082008e-03 1.02126548e+02] [ 1.20098587e-02 3.60854354e-04 9.99927814e-01 3.43903371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52028169299996 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:273.17, Y:102.17, Z:3.44 [[ 7.54813986e-01 -6.55879641e-01 -8.81722182e-03 2.73171418e+02] [ 6.55828958e-01 7.54865388e-01 -8.16232299e-03 1.02173061e+02] [ 1.20093170e-02 3.78446152e-04 9.99927814e-01 3.43842653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58028169299996 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:273.21, Y:102.22, Z:3.44 [[ 7.56168497e-01 -6.54317567e-01 -8.81617922e-03 2.73205495e+02] [ 6.54266766e-01 7.56219781e-01 -8.16344896e-03 1.02222278e+02] [ 1.20084572e-02 4.04809864e-04 9.99927814e-01 3.44075517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64028169299996 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:273.24, Y:102.27, Z:3.44 [[ 7.57497398e-01 -6.52778671e-01 -8.81466578e-03 2.73238299e+02] [ 6.52727746e-01 7.57548560e-01 -8.16508280e-03 1.02272336e+02] [ 1.20075293e-02 4.31452047e-04 9.99927814e-01 3.44277868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70028169299997 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:273.27, Y:102.32, Z:3.44 [[ 7.55840942e-01 -6.54695959e-01 -8.81315762e-03 2.73271128e+02] [ 6.54645146e-01 7.55892213e-01 -8.16671034e-03 1.02321667e+02] [ 1.20085095e-02 4.03243173e-04 9.99927814e-01 3.44261083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76028169299997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:273.31, Y:102.37, Z:3.44 [[ 7.50043006e-01 -6.61330359e-01 -8.81166081e-03 2.73305194e+02] [ 6.61279980e-01 7.50094705e-01 -8.16832505e-03 1.02369713e+02] [ 1.20115414e-02 2.99620183e-04 9.99927814e-01 3.43994021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82028169299997 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:273.34, Y:102.42, Z:3.45 [[ 7.46290119e-01 -6.65562498e-01 -8.81016107e-03 2.73340867e+02] [ 6.65512394e-01 7.46342084e-01 -8.16994231e-03 1.02416181e+02] [ 1.20130012e-02 2.33875841e-04 9.99927814e-01 3.44516537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.880281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:273.37, Y:102.47, Z:3.45 [[ 7.48396196e-01 -6.63193442e-01 -8.80863091e-03 2.73374436e+02] [ 6.63143153e-01 7.48447983e-01 -8.17159175e-03 1.02465762e+02] [ 1.20121481e-02 2.74204903e-04 9.99927814e-01 3.44728079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.940281693 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:273.41, Y:102.51, Z:3.45 [[ 7.50817622e-01 -6.60450856e-01 -8.80708966e-03 2.73409517e+02] [ 6.60400359e-01 7.50869205e-01 -8.17325252e-03 1.02511441e+02] [ 1.20110040e-02 3.20416846e-04 9.99927814e-01 3.44617109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.000281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:273.44, Y:102.56, Z:3.45 [[ 7.51835524e-01 -6.59291896e-01 -8.80571993e-03 2.73440298e+02] [ 6.59241302e-01 7.51887013e-01 -8.17472798e-03 1.02564150e+02] [ 1.20104384e-02 3.40956621e-04 9.99927814e-01 3.44751272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.060281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:273.48, Y:102.61, Z:3.45 [[ 7.49395891e-01 -6.62063655e-01 -8.80423017e-03 2.73476179e+02] [ 6.62013233e-01 7.49447548e-01 -8.17633215e-03 1.02611445e+02] [ 1.20115611e-02 2.98792841e-04 9.99927814e-01 3.44786029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.120281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:273.51, Y:102.66, Z:3.45 [[ 7.42246894e-01 -6.70068698e-01 -8.80272608e-03 2.73511657e+02] [ 6.70018814e-01 7.42299070e-01 -8.17795115e-03 1.02658940e+02] [ 1.20140445e-02 1.72066751e-04 9.99927814e-01 3.44902813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.180281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:273.55, Y:102.70, Z:3.45 [[ 7.34225089e-01 -6.78849068e-01 -8.80122982e-03 2.73549703e+02] [ 6.78799788e-01 7.34277837e-01 -8.17956113e-03 1.02701418e+02] [ 1.20152354e-02 3.13660653e-05 9.99927814e-01 3.44698587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.240281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:273.59, Y:102.74, Z:3.45 [[ 7.28511935e-01 -6.84976588e-01 -8.79964546e-03 2.73591566e+02] [ 6.84927732e-01 7.28565075e-01 -8.18126525e-03 1.02739980e+02] [ 1.20150895e-02 -6.69718303e-05 9.99927814e-01 3.44982967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.300281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:273.63, Y:102.78, Z:3.45 [[ 7.26565436e-01 -6.87040945e-01 -8.79808304e-03 2.73634194e+02] [ 6.86992220e-01 7.26618696e-01 -8.18294511e-03 1.02777829e+02] [ 1.20148700e-02 -9.87695132e-05 9.99927814e-01 3.44983370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.360281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:273.68, Y:102.81, Z:3.44 [[ 7.24415675e-01 -6.89307298e-01 -8.79654488e-03 2.73681136e+02] [ 6.89258719e-01 7.24469069e-01 -8.18459827e-03 1.02812001e+02] [ 1.20145280e-02 -1.34043972e-04 9.99927814e-01 3.44405568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.420281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:273.72, Y:102.85, Z:3.45 [[ 7.24951335e-01 -6.88743935e-01 -8.79510393e-03 2.73724960e+02] [ 6.88695295e-01 7.25004674e-01 -8.18614642e-03 1.02848988e+02] [ 1.20146502e-02 -1.22588926e-04 9.99927814e-01 3.44574192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48028169299994 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:273.77, Y:102.89, Z:3.44 [[ 7.27155031e-01 -6.86416947e-01 -8.79405101e-03 2.73767416e+02] [ 6.86368123e-01 7.27208201e-01 -8.18727737e-03 1.02886180e+02] [ 1.20149920e-02 -8.25363553e-05 9.99927814e-01 3.44463868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54028169299994 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:273.81, Y:102.93, Z:3.45 [[ 7.29177016e-01 -6.84268641e-01 -8.79237422e-03 2.73807762e+02] [ 6.84219639e-01 7.29230022e-01 -8.18907769e-03 1.02928164e+02] [ 1.20151923e-02 -4.46278760e-05 9.99927814e-01 3.45057461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60028169299994 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:273.85, Y:102.97, Z:3.45 [[ 7.25828037e-01 -6.87820022e-01 -8.79082702e-03 2.73851796e+02] [ 6.87771258e-01 7.25881263e-01 -8.19073825e-03 1.02965178e+02] [ 1.20148504e-02 -1.01010695e-04 9.99927814e-01 3.44951490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66028169299994 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:273.90, Y:103.00, Z:3.45 [[ 7.17934668e-01 -6.96055000e-01 -8.78919295e-03 2.73899897e+02] [ 6.96006825e-01 7.17988427e-01 -8.19249134e-03 1.02997543e+02] [ 1.20129634e-02 -2.35664729e-04 9.99927814e-01 3.45154921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72028169299995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:273.95, Y:103.03, Z:3.45 [[ 7.14019849e-01 -7.00070306e-01 -8.78761176e-03 2.73949318e+02] [ 7.00022413e-01 7.14073859e-01 -8.19418703e-03 1.03029057e+02] [ 1.20115109e-02 -3.00713003e-04 9.99927814e-01 3.45287893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78028169299995 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:274.00, Y:103.06, Z:3.45 [[ 7.15003848e-01 -6.99065306e-01 -8.78608931e-03 2.73996926e+02] [ 6.99017318e-01 7.15057773e-01 -8.19581914e-03 1.03061265e+02] [ 1.20119743e-02 -2.81586367e-04 9.99927814e-01 3.45090202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84028169299995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:274.05, Y:103.09, Z:3.45 [[ 7.17842549e-01 -6.96150061e-01 -8.78449233e-03 2.74046804e+02] [ 6.96101832e-01 7.17896260e-01 -8.19753046e-03 1.03091346e+02] [ 1.20130655e-02 -2.30365044e-04 9.99927814e-01 3.45315123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90028169299995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:274.10, Y:103.12, Z:3.46 [[ 7.19908538e-01 -6.94013364e-01 -8.78341050e-03 2.74097893e+02] [ 6.93964962e-01 7.19962092e-01 -8.19868945e-03 1.03121093e+02] [ 1.20137226e-02 -1.93072593e-04 9.99927814e-01 3.45803974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96028169299996 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:274.15, Y:103.15, Z:3.45 [[ 7.22854757e-01 -6.90944193e-01 -8.78193894e-03 2.74147993e+02] [ 6.90895544e-01 7.22908088e-01 -8.20026539e-03 1.03152984e+02] [ 1.20144604e-02 -1.39801636e-04 9.99927814e-01 3.45290178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02028169299996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:274.19, Y:103.19, Z:3.45 [[ 7.26455269e-01 -6.87157658e-01 -8.78041720e-03 2.74192149e+02] [ 6.87108711e-01 7.26508326e-01 -8.20189446e-03 1.03188911e+02] [ 1.20150408e-02 -7.47917010e-05 9.99927814e-01 3.45131449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08028169299996 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:274.24, Y:103.22, Z:3.46 [[ 7.26733476e-01 -6.86863442e-01 -8.77881316e-03 2.74241582e+02] [ 6.86814453e-01 7.26786494e-01 -8.20361098e-03 1.03221108e+02] [ 1.20150833e-02 -6.75770404e-05 9.99927814e-01 3.45578054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14028169299996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:274.29, Y:103.26, Z:3.45 [[ 7.24455349e-01 -6.89265846e-01 -8.77732073e-03 2.74287205e+02] [ 6.89217014e-01 7.24508511e-01 -8.20520747e-03 1.03256833e+02] [ 1.20148128e-02 -1.05172342e-04 9.99927814e-01 3.45397539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20028169299997 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:274.33, Y:103.29, Z:3.46 [[ 7.24359656e-01 -6.89366429e-01 -8.77582019e-03 2.74334727e+02] [ 6.89317585e-01 7.24412807e-01 -8.20681205e-03 1.03291111e+02] [ 1.20148173e-02 -1.04643631e-04 9.99927814e-01 3.45786560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.38, Y:103.33, Z:3.46 [[ 7.25911121e-01 -6.87732548e-01 -8.77427735e-03 2.74379641e+02] [ 6.87683564e-01 7.25964143e-01 -8.20846124e-03 1.03326999e+02] [ 1.20150367e-02 -7.53130204e-05 9.99927814e-01 3.45518177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32028169299997 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:274.42, Y:103.36, Z:3.45 [[ 7.26096115e-01 -6.87537252e-01 -8.77265546e-03 2.74424239e+02] [ 6.87488233e-01 7.26149105e-01 -8.21019424e-03 1.03361673e+02] [ 1.20150703e-02 -6.97072520e-05 9.99927814e-01 3.45440153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.380281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.47, Y:103.40, Z:3.46 [[ 7.27528223e-01 -6.86021688e-01 -8.77090146e-03 2.74467856e+02] [ 6.85972536e-01 7.27581090e-01 -8.21206760e-03 1.03399467e+02] [ 1.20151985e-02 -4.20865711e-05 9.99927814e-01 3.45658096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.440281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:274.51, Y:103.44, Z:3.46 [[ 7.30877255e-01 -6.82452589e-01 -8.76939332e-03 2.74508717e+02] [ 6.82403159e-01 7.30929862e-01 -8.21367777e-03 1.03438399e+02] [ 1.20152571e-02 1.89285540e-05 9.99927814e-01 3.45870506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.500281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:274.54, Y:103.48, Z:3.46 [[ 7.33998357e-01 -6.79094642e-01 -8.76808910e-03 2.74544764e+02] [ 6.79044955e-01 7.34050721e-01 -8.21506979e-03 1.03482840e+02] [ 1.20150320e-02 7.59210470e-05 9.99927814e-01 3.46303768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.560281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:274.58, Y:103.53, Z:3.46 [[ 7.33890154e-01 -6.79211595e-01 -8.76643530e-03 2.74581425e+02] [ 6.79161895e-01 7.33942507e-01 -8.21683421e-03 1.03525346e+02] [ 1.20150286e-02 7.64249151e-05 9.99927814e-01 3.46066463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.620281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:274.62, Y:103.57, Z:3.46 [[ 7.32131922e-01 -6.81106474e-01 -8.76470428e-03 2.74616984e+02] [ 6.81056888e-01 7.32184382e-01 -8.21868023e-03 1.03570984e+02] [ 1.20151759e-02 4.78959416e-05 9.99927814e-01 3.45741776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.680281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:274.65, Y:103.62, Z:3.46 [[ 7.31563783e-01 -6.81716685e-01 -8.76308353e-03 2.74652059e+02] [ 6.81667122e-01 7.31616265e-01 -8.22040798e-03 1.03617564e+02] [ 1.20152037e-02 4.02468340e-05 9.99927814e-01 3.46473072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.740281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:274.69, Y:103.66, Z:3.46 [[ 7.31621343e-01 -6.81654932e-01 -8.76146813e-03 2.74688478e+02] [ 6.81605344e-01 7.31673801e-01 -8.22212934e-03 1.03661759e+02] [ 1.20151917e-02 4.36218189e-05 9.99927814e-01 3.46184087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.800281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:274.72, Y:103.71, Z:3.46 [[ 7.33803525e-01 -6.79305272e-01 -8.75986070e-03 2.74722631e+02] [ 6.79255495e-01 7.33855804e-01 -8.22384154e-03 1.03708016e+02] [ 1.20149735e-02 8.45003946e-05 9.99927814e-01 3.46342155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.860281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:274.76, Y:103.75, Z:3.46 [[ 7.35078670e-01 -6.77925249e-01 -8.75817392e-03 2.74760377e+02] [ 6.77875353e-01 7.35130835e-01 -8.22563752e-03 1.03752003e+02] [ 1.20147711e-02 1.09540451e-04 9.99927814e-01 3.46428409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.920281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:274.80, Y:103.79, Z:3.47 [[ 7.35076154e-01 -6.77927997e-01 -8.75659951e-03 2.74798442e+02] [ 6.77878081e-01 7.35128301e-01 -8.22731322e-03 1.03794117e+02] [ 1.20147501e-02 1.11794883e-04 9.99927814e-01 3.46566500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98028169299994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:274.83, Y:103.84, Z:3.47 [[ 7.34736797e-01 -6.78295798e-01 -8.75495356e-03 2.74833796e+02] [ 6.78245888e-01 7.34788948e-01 -8.22906436e-03 1.03839611e+02] [ 1.20147829e-02 1.08185145e-04 9.99927814e-01 3.46515898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04028169299994 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:274.87, Y:103.88, Z:3.46 [[ 7.32844752e-01 -6.80339582e-01 -8.75339645e-03 2.74871998e+02] [ 6.80289797e-01 7.32897023e-01 -8.23072035e-03 1.03881877e+02] [ 1.20150230e-02 7.69939169e-05 9.99927814e-01 3.46280764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:274.91, Y:103.92, Z:3.47 [[ 7.28391522e-01 -6.85105244e-01 -8.75184227e-03 2.74912127e+02] [ 6.85055781e-01 7.28444099e-01 -8.23237260e-03 1.03922178e+02] [ 1.20152695e-02 8.90273030e-07 9.99927814e-01 3.46553857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16028169299994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:274.96, Y:103.96, Z:3.47 [[ 7.24115382e-01 -6.89623336e-01 -8.75028703e-03 2.74956714e+02] [ 6.89574181e-01 7.24168247e-01 -8.23402535e-03 1.03958775e+02] [ 1.20150560e-02 -7.15876016e-05 9.99927814e-01 3.47024356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22028169299995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:275.00, Y:103.99, Z:3.47 [[ 7.22757116e-01 -6.91046750e-01 -8.74870869e-03 2.75001203e+02] [ 6.90997680e-01 7.22810058e-01 -8.23570201e-03 1.03994260e+02] [ 1.20149097e-02 -9.29251683e-05 9.99927814e-01 3.46957111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28028169299995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:275.05, Y:104.03, Z:3.47 [[ 7.22899190e-01 -6.90898148e-01 -8.74706037e-03 2.75049511e+02] [ 6.90849045e-01 7.22952102e-01 -8.23745230e-03 1.04027309e+02] [ 1.20149462e-02 -8.80507064e-05 9.99927814e-01 3.46794774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34028169299995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:275.10, Y:104.06, Z:3.47 [[ 7.20132703e-01 -6.93781237e-01 -8.74552306e-03 2.75098993e+02] [ 6.93732326e-01 7.20185793e-01 -8.23908410e-03 1.04059715e+02] [ 1.20145234e-02 -1.33818146e-04 9.99927814e-01 3.46730599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40028169299995 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:275.15, Y:104.09, Z:3.47 [[ 7.18534390e-01 -6.95436462e-01 -8.74399116e-03 2.75147512e+02] [ 6.95387654e-01 7.18587574e-01 -8.24070956e-03 1.04090852e+02] [ 1.20142133e-02 -1.59230274e-04 9.99927814e-01 3.47176955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46028169299996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:275.19, Y:104.13, Z:3.47 [[ 7.19662388e-01 -6.94269125e-01 -8.74237838e-03 2.75192683e+02] [ 6.94220210e-01 7.19715474e-01 -8.24242017e-03 1.04127710e+02] [ 1.20144828e-02 -1.37375967e-04 9.99927814e-01 3.47039473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52028169299996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:275.23, Y:104.17, Z:3.47 [[ 7.24596131e-01 -6.89118310e-01 -8.74081365e-03 2.75234732e+02] [ 6.89068997e-01 7.24648847e-01 -8.24407918e-03 1.04165636e+02] [ 1.20151664e-02 -4.93958214e-05 9.99927814e-01 3.46822041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58028169299996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:275.27, Y:104.21, Z:3.47 [[ 7.28786548e-01 -6.84685179e-01 -8.73917432e-03 2.75274669e+02] [ 6.84635525e-01 7.28838943e-01 -8.24581659e-03 1.04207834e+02] [ 1.20152390e-02 2.62910103e-05 9.99927814e-01 3.47214462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64028169299996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:275.31, Y:104.25, Z:3.47 [[ 7.28242146e-01 -6.85264204e-01 -8.73768538e-03 2.75314759e+02] [ 6.85214572e-01 7.28294563e-01 -8.24739404e-03 1.04249649e+02] [ 1.20152527e-02 1.89105910e-05 9.99927814e-01 3.47349809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70028169299997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:275.36, Y:104.29, Z:3.47 [[ 7.26136378e-01 -6.87495194e-01 -8.73606993e-03 2.75355069e+02] [ 6.87445703e-01 7.26188927e-01 -8.24910486e-03 1.04291238e+02] [ 1.20152572e-02 -1.55986077e-05 9.99927814e-01 3.47237478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76028169299997 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:275.40, Y:104.33, Z:3.48 [[ 7.22187171e-01 -6.91642537e-01 -8.73446138e-03 2.75398682e+02] [ 6.91593327e-01 7.22239984e-01 -8.25080770e-03 1.04328712e+02] [ 1.20149868e-02 -8.20677358e-05 9.99927814e-01 3.47557277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82028169299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:275.45, Y:104.36, Z:3.47 [[ 7.16655454e-01 -6.97372705e-01 -8.73329121e-03 2.75445479e+02] [ 6.97323902e-01 7.16708643e-01 -8.25204611e-03 1.04364220e+02] [ 1.20139770e-02 -1.76058852e-04 9.99927814e-01 3.47206362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.880281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:275.49, Y:104.40, Z:3.47 [[ 7.12630148e-01 -7.01485587e-01 -8.73177124e-03 2.75492114e+02] [ 7.01437071e-01 7.12683599e-01 -8.25365413e-03 1.04399051e+02] [ 1.20128096e-02 -2.42985283e-04 9.99927814e-01 3.47339834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.940281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:275.54, Y:104.43, Z:3.47 [[ 7.09227433e-01 -7.04925692e-01 -8.73022238e-03 2.75543361e+02] [ 7.04877415e-01 7.09281101e-01 -8.25529210e-03 1.04429702e+02] [ 1.20115492e-02 -2.98856956e-04 9.99927814e-01 3.47375776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.000281693 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:275.59, Y:104.46, Z:3.47 [[ 7.09828017e-01 -7.04320948e-01 -8.72866369e-03 2.75594907e+02] [ 7.04272605e-01 7.09881624e-01 -8.25693984e-03 1.04458321e+02] [ 1.20118537e-02 -2.86351484e-04 9.99927814e-01 3.47480303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.060281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.64, Y:104.49, Z:3.47 [[ 7.10448178e-01 -7.03695407e-01 -8.72702613e-03 2.75641739e+02] [ 7.03646996e-01 7.10501724e-01 -8.25867027e-03 1.04490360e+02] [ 1.20121554e-02 -2.73388477e-04 9.99927814e-01 3.47236054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.120281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:275.70, Y:104.52, Z:3.48 [[ 7.14899765e-01 -6.99172509e-01 -8.72522464e-03 2.75696012e+02] [ 6.99123736e-01 7.14952981e-01 -8.26057308e-03 1.04516359e+02] [ 1.20136910e-02 -1.94529891e-04 9.99927814e-01 3.47803571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.180281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:275.74, Y:104.55, Z:3.48 [[ 7.18738942e-01 -6.95225311e-01 -8.72356565e-03 2.75741526e+02] [ 6.95176224e-01 7.18791869e-01 -8.26232469e-03 1.04551580e+02] [ 1.20146053e-02 -1.25960931e-04 9.99927814e-01 3.47651187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.240281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:275.79, Y:104.58, Z:3.47 [[ 7.24204099e-01 -6.89530531e-01 -8.72185077e-03 2.75789142e+02] [ 6.89481006e-01 7.24256616e-01 -8.26413455e-03 1.04584935e+02] [ 1.20152312e-02 -2.86303235e-05 9.99927814e-01 3.46854472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.300281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:275.83, Y:104.62, Z:3.47 [[ 7.32784784e-01 -6.80404600e-01 -8.72012117e-03 2.75834366e+02] [ 6.80354400e-01 7.32836656e-01 -8.26595918e-03 1.04621307e+02] [ 1.20146211e-02 1.24396308e-04 9.99927814e-01 3.47396421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.360281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:275.88, Y:104.66, Z:3.48 [[ 7.39885511e-01 -6.72676309e-01 -8.71856607e-03 2.75876840e+02] [ 6.72625548e-01 7.39936835e-01 -8.26759910e-03 1.04659492e+02] [ 1.20126062e-02 2.52746513e-04 9.99927814e-01 3.47882232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.420281693 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:275.92, Y:104.70, Z:3.48 [[ 7.39744789e-01 -6.72831080e-01 -8.71694661e-03 2.75920333e+02] [ 6.72780309e-01 7.39796103e-01 -8.26930624e-03 1.04698083e+02] [ 1.20126094e-02 2.52586159e-04 9.99927814e-01 3.47553788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48028169299994 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:275.96, Y:104.74, Z:3.48 [[ 7.39973176e-01 -6.72579914e-01 -8.71536217e-03 2.75963741e+02] [ 6.72529106e-01 7.40024454e-01 -8.27097580e-03 1.04735688e+02] [ 1.20124733e-02 2.58965501e-04 9.99927814e-01 3.47873353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:276.01, Y:104.77, Z:3.47 [[ 7.40550089e-01 -6.71944668e-01 -8.71371918e-03 2.76005807e+02] [ 6.71893796e-01 7.40601302e-01 -8.27270638e-03 1.04774641e+02] [ 1.20121927e-02 2.71659584e-04 9.99927814e-01 3.47427765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60028169299994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:276.05, Y:104.81, Z:3.48 [[ 7.38984809e-01 -6.73665757e-01 -8.71208286e-03 2.76049753e+02] [ 6.73614984e-01 7.39036120e-01 -8.27442925e-03 1.04813038e+02] [ 1.20127436e-02 2.46087957e-04 9.99927814e-01 3.47680184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:276.09, Y:104.85, Z:3.49 [[ 7.38899400e-01 -6.73759455e-01 -8.71057074e-03 2.76090508e+02] [ 6.73708670e-01 7.38950699e-01 -8.27602076e-03 1.04852424e+02] [ 1.20127296e-02 2.46759743e-04 9.99927814e-01 3.48594511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:276.13, Y:104.90, Z:3.49 [[ 7.41681683e-01 -6.70695480e-01 -8.70946743e-03 2.76129045e+02] [ 6.70644469e-01 7.41732758e-01 -8.27718170e-03 1.04896746e+02] [ 1.20115656e-02 2.98077887e-04 9.99927814e-01 3.48647274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78028169299995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:276.16, Y:104.94, Z:3.49 [[ 7.46427435e-01 -6.65409841e-01 -8.70795241e-03 2.76164926e+02] [ 6.65358450e-01 7.46478127e-01 -8.27877526e-03 1.04943390e+02] [ 1.20090745e-02 3.85595257e-04 9.99927814e-01 3.48614261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.20, Y:104.99, Z:3.49 [[ 7.47765717e-01 -6.63905589e-01 -8.70642349e-03 2.76204418e+02] [ 6.63854077e-01 7.47816287e-01 -8.28038284e-03 1.04985275e+02] [ 1.20081977e-02 4.11991684e-04 9.99927814e-01 3.48842130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.24, Y:105.03, Z:3.49 [[ 7.48417745e-01 -6.63170496e-01 -8.70473676e-03 2.76242045e+02] [ 6.63118914e-01 7.48468243e-01 -8.28215563e-03 1.05029870e+02] [ 1.20077003e-02 4.26236653e-04 9.99927814e-01 3.49160726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:276.28, Y:105.07, Z:3.49 [[ 7.48704371e-01 -6.62846906e-01 -8.70316618e-03 2.76277709e+02] [ 6.62795283e-01 7.48754827e-01 -8.28380573e-03 1.05074819e+02] [ 1.20074327e-02 4.33704065e-04 9.99927814e-01 3.49060804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:276.31, Y:105.12, Z:3.49 [[ 7.49005392e-01 -6.62506759e-01 -8.70152329e-03 2.76313249e+02] [ 6.62455094e-01 7.49055805e-01 -8.28553109e-03 1.05121402e+02] [ 1.20071469e-02 4.41539039e-04 9.99927814e-01 3.48973825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08028169299996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:276.35, Y:105.16, Z:3.49 [[ 7.46840076e-01 -6.64946773e-01 -8.69998088e-03 2.76350629e+02] [ 6.64895253e-01 7.46890638e-01 -8.28715034e-03 1.05164694e+02] [ 1.20084481e-02 4.04599994e-04 9.99927814e-01 3.49174280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14028169299996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:276.39, Y:105.21, Z:3.49 [[ 7.44884897e-01 -6.67136289e-01 -8.69835302e-03 2.76390583e+02] [ 6.67084898e-01 7.44935590e-01 -8.28885862e-03 1.05206414e+02] [ 1.20095111e-02 3.71705670e-04 9.99927814e-01 3.48847811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.43, Y:105.25, Z:3.49 [[ 7.41537916e-01 -6.70854593e-01 -8.69682360e-03 2.76428478e+02] [ 6.70803437e-01 7.41588846e-01 -8.29046300e-03 1.05250040e+02] [ 1.20111626e-02 3.13833494e-04 9.99927814e-01 3.48554985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26028169299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:276.47, Y:105.29, Z:3.49 [[ 7.40143093e-01 -6.72393183e-01 -8.69530833e-03 2.76467642e+02] [ 6.72342115e-01 7.40194111e-01 -8.29205197e-03 1.05292063e+02] [ 1.20117352e-02 2.91082999e-04 9.99927814e-01 3.49017391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32028169299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:276.51, Y:105.33, Z:3.49 [[ 7.39945476e-01 -6.72610669e-01 -8.69372587e-03 2.76509610e+02] [ 6.72559596e-01 7.39996489e-01 -8.29371075e-03 1.05331859e+02] [ 1.20117650e-02 2.89844989e-04 9.99927814e-01 3.48947277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.380281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:276.55, Y:105.38, Z:3.49 [[ 7.40990815e-01 -6.71458903e-01 -8.69221707e-03 2.76547507e+02] [ 6.71407732e-01 7.41041730e-01 -8.29529175e-03 1.05376510e+02] [ 1.20112431e-02 3.10713240e-04 9.99927814e-01 3.49221525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.440281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.59, Y:105.42, Z:3.50 [[ 7.42562055e-01 -6.69720887e-01 -8.69071426e-03 2.76585082e+02] [ 6.69669579e-01 7.42612831e-01 -8.29686590e-03 1.05420193e+02] [ 1.20104203e-02 3.41030838e-04 9.99927814e-01 3.49816110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.500281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.62, Y:105.46, Z:3.50 [[ 7.40672010e-01 -6.71810586e-01 -8.68962115e-03 2.76624884e+02] [ 6.71759408e-01 7.40722918e-01 -8.29801060e-03 1.05461803e+02] [ 1.20112929e-02 3.08769430e-04 9.99927814e-01 3.49691087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.560281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.67, Y:105.50, Z:3.50 [[ 7.35474511e-01 -6.77496687e-01 -8.68810340e-03 2.76665563e+02] [ 6.77445884e-01 7.35525792e-01 -8.29959939e-03 1.05503705e+02] [ 1.20132752e-02 2.18423914e-04 9.99927814e-01 3.49841493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.620281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:276.70, Y:105.55, Z:3.50 [[ 7.30936795e-01 -6.82389879e-01 -8.68648681e-03 2.76703696e+02] [ 6.82339398e-01 7.30988395e-01 -8.30129099e-03 1.05546409e+02] [ 1.20144380e-02 1.40586847e-04 9.99927814e-01 3.49826786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.680281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.74, Y:105.59, Z:3.49 [[ 7.28080731e-01 -6.85436375e-01 -8.68478178e-03 2.76743457e+02] [ 6.85386090e-01 7.28132520e-01 -8.30307441e-03 1.05587387e+02] [ 1.20149013e-02 9.28798570e-05 9.99927814e-01 3.49116421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.740281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.78, Y:105.63, Z:3.50 [[ 7.25413309e-01 -6.88258768e-01 -8.68323524e-03 2.76783421e+02] [ 6.88208665e-01 7.25465275e-01 -8.30469144e-03 1.05628920e+02] [ 1.20151623e-02 4.84559670e-05 9.99927814e-01 3.49639288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.800281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:276.82, Y:105.67, Z:3.50 [[ 7.24133892e-01 -6.89604766e-01 -8.68173403e-03 2.76820796e+02] [ 6.89554741e-01 7.24185933e-01 -8.30626051e-03 1.05671089e+02] [ 1.20152265e-02 2.83138892e-05 9.99927814e-01 3.49569692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.860281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.86, Y:105.71, Z:3.50 [[ 7.24101687e-01 -6.89638604e-01 -8.67996529e-03 2.76858731e+02] [ 6.89588559e-01 7.24153709e-01 -8.30810841e-03 1.05713529e+02] [ 1.20152214e-02 3.03105626e-05 9.99927814e-01 3.49785331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.920281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:276.90, Y:105.76, Z:3.50 [[ 7.22641242e-01 -6.91168810e-01 -8.67827309e-03 2.76898354e+02] [ 6.91118853e-01 7.22693349e-01 -8.30987563e-03 1.05755136e+02] [ 1.20152571e-02 7.34069843e-06 9.99927814e-01 3.50061898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:276.94, Y:105.79, Z:3.51 [[ 7.15503637e-01 -6.98555125e-01 -8.67659534e-03 2.76939166e+02] [ 6.98505685e-01 7.15556234e-01 -8.31162705e-03 1.05793849e+02] [ 1.20147216e-02 -1.13651792e-04 9.99927814e-01 3.50778987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04028169299994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:276.98, Y:105.83, Z:3.51 [[ 7.10341193e-01 -7.03804047e-01 -8.67484109e-03 2.76980958e+02] [ 7.03754974e-01 7.10394132e-01 -8.31345757e-03 1.05832327e+02] [ 1.20136013e-02 -1.99571199e-04 9.99927814e-01 3.50735646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:277.03, Y:105.86, Z:3.51 [[ 7.03038760e-01 -7.11098642e-01 -8.67313335e-03 2.77030476e+02] [ 7.11050096e-01 7.03092183e-01 -8.31523881e-03 1.05861946e+02] [ 1.20109673e-02 -3.21097126e-04 9.99927814e-01 3.50738237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.08, Y:105.90, Z:3.51 [[ 7.01393610e-01 -7.12721407e-01 -8.67182660e-03 2.77077756e+02] [ 7.12672967e-01 7.01447130e-01 -8.31660138e-03 1.05896209e+02] [ 1.20102477e-02 -3.46965332e-04 9.99927814e-01 3.51021932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.13, Y:105.93, Z:3.51 [[ 7.01314654e-01 -7.12799118e-01 -8.67028003e-03 2.77128898e+02] [ 7.12750664e-01 7.01368162e-01 -8.31821340e-03 1.05925165e+02] [ 1.20102735e-02 -3.46062902e-04 9.99927814e-01 3.50858094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:277.18, Y:105.96, Z:3.50 [[ 7.05975279e-01 -7.08183424e-01 -8.66854438e-03 2.77177543e+02] [ 7.08134599e-01 7.06028447e-01 -8.32002176e-03 1.05956919e+02] [ 1.20123404e-02 -2.64766515e-04 9.99927814e-01 3.49624582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.22, Y:105.99, Z:3.50 [[ 7.11101398e-01 -7.03036047e-01 -8.66704931e-03 2.77222747e+02] [ 7.02986817e-01 7.11154193e-01 -8.32157890e-03 1.05992793e+02] [ 1.20139784e-02 -1.75335019e-04 9.99927814e-01 3.49686678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.27, Y:106.03, Z:3.51 [[ 7.18775270e-01 -6.95188481e-01 -8.66535261e-03 2.77265836e+02] [ 6.95138653e-01 7.18827500e-01 -8.32334531e-03 1.06031067e+02] [ 1.20151875e-02 -4.10067717e-05 9.99927814e-01 3.51034594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:277.30, Y:106.07, Z:3.51 [[ 7.24733656e-01 -6.88974649e-01 -8.66379537e-03 2.77304180e+02] [ 6.88924354e-01 7.24785436e-01 -8.32496593e-03 1.06073811e+02] [ 1.20150832e-02 6.46833637e-05 9.99927814e-01 3.50638223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.34, Y:106.12, Z:3.51 [[ 7.29591191e-01 -6.83828679e-01 -8.66205707e-03 2.77338852e+02] [ 6.83777998e-01 7.29642594e-01 -8.32677423e-03 1.06121441e+02] [ 1.20142928e-02 1.52217090e-04 9.99927814e-01 3.50612315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:277.37, Y:106.17, Z:3.51 [[ 7.32026506e-01 -6.81221102e-01 -8.66053273e-03 2.77370370e+02] [ 6.81170219e-01 7.32077709e-01 -8.32835936e-03 1.06170514e+02] [ 1.20136371e-02 1.97282830e-04 9.99927814e-01 3.50658705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64028169299996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:277.40, Y:106.22, Z:3.51 [[ 7.32265395e-01 -6.80964327e-01 -8.65893964e-03 2.77402541e+02] [ 6.80913406e-01 7.32316560e-01 -8.33001536e-03 1.06220135e+02] [ 1.20135282e-02 2.03793902e-04 9.99927814e-01 3.50777830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70028169299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:277.44, Y:106.27, Z:3.51 [[ 7.29786759e-01 -6.83620022e-01 -8.65744674e-03 2.77435579e+02] [ 6.83569269e-01 7.29838091e-01 -8.33156665e-03 1.06267583e+02] [ 1.20141602e-02 1.62302476e-04 9.99927814e-01 3.51388297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76028169299997 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:277.47, Y:106.31, Z:3.51 [[ 7.28902816e-01 -6.84562459e-01 -8.65587160e-03 2.77474571e+02] [ 6.84511754e-01 7.28954194e-01 -8.33320278e-03 1.06309319e+02] [ 1.20143317e-02 1.49049125e-04 9.99927814e-01 3.51419443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82028169299997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:277.51, Y:106.35, Z:3.51 [[ 7.26415712e-01 -6.87201075e-01 -8.65422166e-03 2.77512693e+02] [ 6.87150535e-01 7.26467254e-01 -8.33491593e-03 1.06352650e+02] [ 1.20147718e-02 1.07860848e-04 9.99927814e-01 3.50859956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.880281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.55, Y:106.39, Z:3.51 [[ 7.24072382e-01 -6.89669717e-01 -8.65257691e-03 2.77552521e+02] [ 6.89619333e-01 7.24124075e-01 -8.33662302e-03 1.06392284e+02] [ 1.20150557e-02 6.93341641e-05 9.99927814e-01 3.51147473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.940281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:277.60, Y:106.43, Z:3.51 [[ 7.20998612e-01 -6.92882498e-01 -8.65130814e-03 2.77595818e+02] [ 6.92832328e-01 7.21050514e-01 -8.33793947e-03 1.06428500e+02] [ 1.20152425e-02 1.77368228e-05 9.99927814e-01 3.50844368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.000281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:277.64, Y:106.47, Z:3.51 [[ 7.20057248e-01 -6.93860752e-01 -8.64961112e-03 2.77638468e+02] [ 6.93810632e-01 7.20109198e-01 -8.33969956e-03 1.06466700e+02] [ 1.20152547e-02 3.86896593e-06 9.99927814e-01 3.50697550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.060281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:277.68, Y:106.50, Z:3.51 [[ 7.19728554e-01 -6.94201716e-01 -8.64796155e-03 2.77680465e+02] [ 6.94151599e-01 7.19780507e-01 -8.34140975e-03 1.06504968e+02] [ 1.20152551e-02 5.54433727e-07 9.99927814e-01 3.50972956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.120281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:277.73, Y:106.54, Z:3.51 [[ 7.17328297e-01 -6.96681674e-01 -8.64631523e-03 2.77725344e+02] [ 6.96631717e-01 7.17380403e-01 -8.34311590e-03 1.06541287e+02] [ 1.20151931e-02 -3.85443008e-05 9.99927814e-01 3.50925170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.180281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:277.77, Y:106.58, Z:3.51 [[ 7.16745818e-01 -6.97280935e-01 -8.64463622e-03 2.77770612e+02] [ 6.97231001e-01 7.16797946e-01 -8.34485522e-03 1.06578005e+02] [ 1.20151659e-02 -4.61682747e-05 9.99927814e-01 3.51068337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.240281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:277.81, Y:106.62, Z:3.52 [[ 7.21767297e-01 -6.92081835e-01 -8.64305232e-03 2.77814884e+02] [ 6.92031506e-01 7.21819043e-01 -8.34649540e-03 1.06615403e+02] [ 1.20151776e-02 4.29629179e-05 9.99927814e-01 3.52030444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.300281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:277.85, Y:106.66, Z:3.51 [[ 7.31776909e-01 -6.81489457e-01 -8.64148014e-03 2.77854914e+02] [ 6.81438359e-01 7.31827897e-01 -8.34812283e-03 1.06657638e+02] [ 1.20132339e-02 2.20327471e-04 9.99927814e-01 3.51423320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.360281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:277.89, Y:106.70, Z:3.52 [[ 7.40078536e-01 -6.72464952e-01 -8.63992836e-03 2.77891912e+02] [ 6.72413214e-01 7.40128875e-01 -8.34972854e-03 1.06701822e+02] [ 1.20095603e-02 3.69852881e-04 9.99927814e-01 3.52122800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.420281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:277.93, Y:106.75, Z:3.52 [[ 7.44325339e-01 -6.67761308e-01 -8.63856393e-03 2.77925940e+02] [ 6.67709236e-01 7.44375332e-01 -8.35113993e-03 1.06750584e+02] [ 1.20069020e-02 4.47916129e-04 9.99927814e-01 3.52057024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:277.96, Y:106.80, Z:3.52 [[ 7.43249309e-01 -6.68958792e-01 -8.63705905e-03 2.77962324e+02] [ 6.68906782e-01 7.43299367e-01 -8.35269604e-03 1.06797102e+02] [ 1.20075300e-02 4.30748183e-04 9.99927814e-01 3.51801195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:278.00, Y:106.84, Z:3.52 [[ 7.40123183e-01 -6.72415869e-01 -8.63556581e-03 2.78000874e+02] [ 6.72364075e-01 7.40173464e-01 -8.35423956e-03 1.06840467e+02] [ 1.20093399e-02 3.76922156e-04 9.99927814e-01 3.52440295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60028169299994 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:278.04, Y:106.88, Z:3.52 [[ 7.36522673e-01 -6.76357750e-01 -8.63408459e-03 2.78039786e+02] [ 6.76306207e-01 7.36573211e-01 -8.35577013e-03 1.06884087e+02] [ 1.20111253e-02 3.14929143e-04 9.99927814e-01 3.52473095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66028169299994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:278.08, Y:106.93, Z:3.52 [[ 7.33585028e-01 -6.79542849e-01 -8.63260957e-03 2.78078162e+02] [ 6.79491508e-01 7.33635772e-01 -8.35729374e-03 1.06928474e+02] [ 1.20123304e-02 2.65000671e-04 9.99927814e-01 3.52374847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72028169299995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:278.12, Y:106.97, Z:3.52 [[ 7.31200590e-01 -6.82107910e-01 -8.63111340e-03 2.78117027e+02] [ 6.82056729e-01 7.31251495e-01 -8.35883864e-03 1.06970443e+02] [ 1.20131445e-02 2.25078774e-04 9.99927814e-01 3.51897639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78028169299995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:278.16, Y:107.01, Z:3.52 [[ 7.29805062e-01 -6.83600835e-01 -8.62956399e-03 2.78155450e+02] [ 6.83549739e-01 7.29856052e-01 -8.36043793e-03 1.07013871e+02] [ 1.20135419e-02 2.02753701e-04 9.99927814e-01 3.51790600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.19, Y:107.06, Z:3.52 [[ 7.30351000e-01 -6.83017551e-01 -8.62795890e-03 2.78193237e+02] [ 6.82966395e-01 7.30401930e-01 -8.36209405e-03 1.07056134e+02] [ 1.20133348e-02 2.14657777e-04 9.99927814e-01 3.52183508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:278.23, Y:107.10, Z:3.52 [[ 7.32079215e-01 -6.81164886e-01 -8.62679383e-03 2.78230128e+02] [ 6.81113587e-01 7.32130000e-01 -8.36329582e-03 1.07100746e+02] [ 1.20127180e-02 2.46768552e-04 9.99927814e-01 3.52395683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96028169299996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:278.27, Y:107.14, Z:3.52 [[ 7.33293308e-01 -6.79857727e-01 -8.62521281e-03 2.78268738e+02] [ 6.79806319e-01 7.33343983e-01 -8.36492605e-03 1.07143683e+02] [ 1.20122075e-02 2.70470128e-04 9.99927814e-01 3.52374781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02028169299996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:278.30, Y:107.19, Z:3.53 [[ 7.35541088e-01 -6.77425228e-01 -8.62365311e-03 2.78303433e+02] [ 6.77373633e-01 7.35591573e-01 -8.36653368e-03 1.07190903e+02] [ 1.20111875e-02 3.12494050e-04 9.99927814e-01 3.52758348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08028169299996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:278.34, Y:107.24, Z:3.53 [[ 7.37487126e-01 -6.75306152e-01 -8.62210501e-03 2.78336661e+02] [ 6.75254393e-01 7.37537443e-01 -8.36812876e-03 1.07238631e+02] [ 1.20101741e-02 3.49272947e-04 9.99927814e-01 3.52739749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:278.37, Y:107.29, Z:3.53 [[ 7.39451392e-01 -6.73154750e-01 -8.62097711e-03 2.78369178e+02] [ 6.73102831e-01 7.39501544e-01 -8.36929058e-03 1.07286726e+02] [ 1.20090536e-02 3.85879478e-04 9.99927814e-01 3.53178698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20028169299997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:278.40, Y:107.33, Z:3.53 [[ 7.37299221e-01 -6.75511336e-01 -8.61937053e-03 2.78404142e+02] [ 6.75459558e-01 7.37349518e-01 -8.37094484e-03 1.07333549e+02] [ 1.20101568e-02 3.49854899e-04 9.99927814e-01 3.53234768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26028169299997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:278.44, Y:107.38, Z:3.54 [[ 7.31070965e-01 -6.82247007e-01 -8.61777393e-03 2.78439361e+02] [ 6.82195673e-01 7.31121716e-01 -8.37258820e-03 1.07378376e+02] [ 1.20128149e-02 2.41948045e-04 9.99927814e-01 3.53544524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32028169299997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:278.48, Y:107.42, Z:3.53 [[ 7.24142350e-01 -6.89596705e-01 -8.61634389e-03 2.78478789e+02] [ 6.89545869e-01 7.24193600e-01 -8.37405961e-03 1.07421296e+02] [ 1.20146250e-02 1.22646868e-04 9.99927814e-01 3.53055312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.380281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:278.52, Y:107.46, Z:3.52 [[ 7.20816076e-01 -6.93072848e-01 -8.61470099e-03 2.78517189e+02] [ 6.93022239e-01 7.20867549e-01 -8.37574938e-03 1.07464285e+02] [ 1.20150629e-02 6.71954266e-05 9.99927814e-01 3.52327279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.440281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:278.56, Y:107.50, Z:3.53 [[ 7.17965119e-01 -6.96025785e-01 -8.61364509e-03 2.78558427e+02] [ 6.95975375e-01 7.18016787e-01 -8.37683513e-03 1.07504738e+02] [ 1.20152350e-02 1.93905651e-05 9.99927814e-01 3.52864286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.500281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:278.60, Y:107.55, Z:3.53 [[ 7.14456148e-01 -6.99627218e-01 -8.61206914e-03 2.78600093e+02] [ 6.99577049e-01 7.14508050e-01 -8.37845502e-03 1.07545452e+02] [ 1.20151879e-02 -3.87672095e-05 9.99927814e-01 3.52910031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.560281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:278.64, Y:107.58, Z:3.53 [[ 7.08132968e-01 -7.06026599e-01 -8.61049430e-03 2.78644570e+02] [ 7.05976879e-01 7.08185301e-01 -8.38007317e-03 1.07581856e+02] [ 1.20143801e-02 -1.44603804e-04 9.99927814e-01 3.52873646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.620281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:278.69, Y:107.62, Z:3.53 [[ 7.02393932e-01 -7.11736365e-01 -8.60884291e-03 2.78692486e+02] [ 7.11687049e-01 7.02446646e-01 -8.38176929e-03 1.07615889e+02] [ 1.20128628e-02 -2.39498121e-04 9.99927814e-01 3.53272353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.680281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:278.74, Y:107.65, Z:3.53 [[ 7.01466278e-01 -7.12650669e-01 -8.60726177e-03 2.78737581e+02] [ 7.12601403e-01 7.01519037e-01 -8.38339265e-03 1.07652432e+02] [ 1.20125884e-02 -2.52879575e-04 9.99927814e-01 3.53271905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.740281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:278.78, Y:107.69, Z:3.53 [[ 7.06091351e-01 -7.08068461e-01 -8.60569356e-03 2.78781312e+02] [ 7.08018833e-01 7.06143770e-01 -8.38500214e-03 1.07690539e+02] [ 1.20140125e-02 -1.72415618e-04 9.99927814e-01 3.53449206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.800281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:278.82, Y:107.73, Z:3.53 [[ 7.11294449e-01 -7.02841501e-01 -8.60412961e-03 2.78823784e+02] [ 7.02791468e-01 7.11346482e-01 -8.38660666e-03 1.07729631e+02] [ 1.20149725e-02 -8.15621142e-05 9.99927814e-01 3.53328118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.860281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:278.87, Y:107.77, Z:3.54 [[ 7.17006025e-01 -6.97013886e-01 -8.60254988e-03 2.78866586e+02] [ 6.96963410e-01 7.17057629e-01 -8.38822675e-03 1.07768809e+02] [ 1.20152345e-02 1.87466172e-05 9.99927814e-01 3.53610081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.920281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:278.90, Y:107.81, Z:3.54 [[ 7.20799151e-01 -6.93090620e-01 -8.60095287e-03 2.78904591e+02] [ 6.93039844e-01 7.20850460e-01 -8.38986393e-03 1.07812927e+02] [ 1.20149368e-02 8.66037677e-05 9.99927814e-01 3.53779005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98028169299994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:278.94, Y:107.86, Z:3.54 [[ 7.24423404e-01 -6.89301664e-01 -8.59935384e-03 2.78939008e+02] [ 6.89250600e-01 7.24474426e-01 -8.39150258e-03 1.07859525e+02] [ 1.20142886e-02 1.51891068e-04 9.99927814e-01 3.53768183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:278.97, Y:107.91, Z:3.54 [[ 7.24882902e-01 -6.88818451e-01 -8.59767284e-03 2.78974525e+02] [ 6.88767333e-01 7.24933869e-01 -8.39322452e-03 1.07906615e+02] [ 1.20141522e-02 1.62308758e-04 9.99927814e-01 3.53694985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10028169299994 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:279.01, Y:107.95, Z:3.54 [[ 7.19984768e-01 -6.93936627e-01 -8.59606170e-03 2.79009284e+02] [ 6.93885851e-01 7.20036077e-01 -8.39487427e-03 1.07954088e+02] [ 1.20149853e-02 7.94960131e-05 9.99927814e-01 3.53504961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16028169299994 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:279.05, Y:108.00, Z:3.54 [[ 7.14028272e-01 -7.00064113e-01 -8.59446146e-03 2.79045639e+02] [ 7.00013758e-01 7.14079993e-01 -8.39651223e-03 1.07998075e+02] [ 1.20152299e-02 -2.08941498e-05 9.99927814e-01 3.53831132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22028169299995 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:279.09, Y:108.04, Z:3.54 [[ 7.09702395e-01 -7.04449194e-01 -8.59329985e-03 2.79085482e+02] [ 7.04399144e-01 7.09754412e-01 -8.39770091e-03 1.08039408e+02] [ 1.20148861e-02 -9.32446124e-05 9.99927814e-01 3.54023266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28028169299995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:279.13, Y:108.08, Z:3.54 [[ 7.03366790e-01 -7.10775170e-01 -8.59165201e-03 2.79127541e+02] [ 7.10725567e-01 7.03419234e-01 -8.39938647e-03 1.08079833e+02] [ 1.20136086e-02 -1.98457246e-04 9.99927814e-01 3.54151596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:279.17, Y:108.12, Z:3.54 [[ 6.98176152e-01 -7.15874481e-01 -8.59005723e-03 2.79170849e+02] [ 7.15825241e-01 6.98228937e-01 -8.40101713e-03 1.08118766e+02] [ 1.20119003e-02 -2.83589970e-04 9.99927814e-01 3.54043565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40028169299995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:279.21, Y:108.16, Z:3.54 [[ 6.95645601e-01 -7.18333791e-01 -8.58847957e-03 2.79213185e+02] [ 7.18284718e-01 6.95698541e-01 -8.40262969e-03 1.08157843e+02] [ 1.20108855e-02 -3.23721237e-04 9.99927814e-01 3.53995339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46028169299996 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:279.26, Y:108.19, Z:3.54 [[ 6.92352459e-01 -7.21508376e-01 -8.58691398e-03 2.79258351e+02] [ 7.21459526e-01 6.92405605e-01 -8.40422931e-03 1.08193158e+02] [ 1.20093492e-02 -3.76422053e-04 9.99927814e-01 3.53934726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52028169299996 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:279.31, Y:108.23, Z:3.54 [[ 6.84684233e-01 -7.28789266e-01 -8.58527264e-03 2.79307215e+02] [ 7.28740959e-01 6.84737873e-01 -8.40590567e-03 1.08225960e+02] [ 1.20047952e-02 -5.01048750e-04 9.99927814e-01 3.53758156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58028169299996 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:279.36, Y:108.26, Z:3.54 [[ 6.77983267e-01 -7.35027217e-01 -8.58373223e-03 2.79357299e+02] [ 7.34979384e-01 6.78037329e-01 -8.40747837e-03 1.08255830e+02] [ 1.19998163e-02 -6.08736572e-04 9.99927814e-01 3.54182076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64028169299996 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:279.40, Y:108.29, Z:3.54 [[ 6.76516214e-01 -7.36377729e-01 -8.58212361e-03 2.79404398e+02] [ 7.36329983e-01 6.76570353e-01 -8.40912009e-03 1.08290472e+02] [ 1.19986992e-02 -6.30368847e-04 9.99927814e-01 3.54370847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70028169299997 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:279.45, Y:108.32, Z:3.54 [[ 6.80097000e-01 -7.33071923e-01 -8.58057929e-03 2.79454925e+02] [ 7.33023894e-01 6.80150888e-01 -8.41069560e-03 1.08320079e+02] [ 1.20017334e-02 -5.69680811e-04 9.99927814e-01 3.54389722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76028169299997 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:279.51, Y:108.35, Z:3.54 [[ 6.84096434e-01 -7.29341121e-01 -8.57895442e-03 2.79505041e+02] [ 7.29292777e-01 6.84150040e-01 -8.41235265e-03 1.08351906e+02] [ 1.20047667e-02 -5.01709045e-04 9.99927814e-01 3.54329757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82028169299997 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:279.56, Y:108.38, Z:3.55 [[ 6.85024468e-01 -7.28469565e-01 -8.57738867e-03 2.79555479e+02] [ 7.28421133e-01 6.85077994e-01 -8.41394882e-03 1.08382454e+02] [ 1.20054859e-02 -4.84190367e-04 9.99927814e-01 3.55038020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.880281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:279.61, Y:108.41, Z:3.55 [[ 6.85677215e-01 -7.27855215e-01 -8.57573033e-03 2.79607027e+02] [ 7.27806714e-01 6.85730679e-01 -8.41563870e-03 1.08411433e+02] [ 1.20060079e-02 -4.71062408e-04 9.99927814e-01 3.54691642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.940281693 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:279.66, Y:108.44, Z:3.54 [[ 6.88188759e-01 -7.25481025e-01 -8.57408450e-03 2.79656340e+02] [ 7.25432318e-01 6.88242036e-01 -8.41731518e-03 1.08442371e+02] [ 1.20076478e-02 -4.27216304e-04 9.99927814e-01 3.54300008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.000281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:279.71, Y:108.47, Z:3.55 [[ 6.93924758e-01 -7.19996489e-01 -8.57246260e-03 2.79706855e+02] [ 7.19947341e-01 6.93977628e-01 -8.41896665e-03 1.08472996e+02] [ 1.20107237e-02 -3.29592258e-04 9.99927814e-01 3.54598001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.060281693 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:279.75, Y:108.51, Z:3.55 [[ 6.97792843e-01 -7.16248345e-01 -8.57069969e-03 2.79751352e+02] [ 7.16198891e-01 6.97845427e-01 -8.42076096e-03 1.08510433e+02] [ 1.20123797e-02 -2.62378880e-04 9.99927814e-01 3.54905630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.120281693 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:279.80, Y:108.55, Z:3.55 [[ 7.01323571e-01 -7.12791568e-01 -8.56904536e-03 2.79797688e+02] [ 7.12741834e-01 7.01375891e-01 -8.42244408e-03 1.08545143e+02] [ 1.20135689e-02 -2.00658551e-04 9.99927814e-01 3.54512909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.180281693 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:279.84, Y:108.58, Z:3.55 [[ 7.03987017e-01 -7.10161165e-01 -8.56732158e-03 2.79840656e+02] [ 7.10111214e-01 7.04039130e-01 -8.42419714e-03 1.08582935e+02] [ 1.20142673e-02 -1.53225712e-04 9.99927814e-01 3.55008334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.240281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:279.88, Y:108.62, Z:3.55 [[ 7.07415645e-01 -7.06745878e-01 -8.56557863e-03 2.79884060e+02] [ 7.06695654e-01 7.07467495e-01 -8.42596898e-03 1.08620457e+02] [ 1.20148873e-02 -9.25949063e-05 9.99927814e-01 3.55359822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.300281693 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:279.93, Y:108.66, Z:3.55 [[ 7.09267300e-01 -7.04887621e-01 -8.56382330e-03 2.79926268e+02] [ 7.04837239e-01 7.09318997e-01 -8.42775265e-03 1.08657929e+02] [ 1.20151011e-02 -5.85722069e-05 9.99927814e-01 3.55308802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.360281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:279.97, Y:108.70, Z:3.55 [[ 7.10535790e-01 -7.03608970e-01 -8.56198849e-03 2.79968637e+02] [ 7.03558474e-01 7.10587374e-01 -8.42961627e-03 1.08696850e+02] [ 1.20151945e-02 -3.43155011e-05 9.99927814e-01 3.55303008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.420281693 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:280.01, Y:108.74, Z:3.55 [[ 7.12966235e-01 -7.01146112e-01 -8.56021103e-03 2.80009477e+02] [ 7.01095416e-01 7.13017622e-01 -8.43142089e-03 1.08737695e+02] [ 1.20152393e-02 9.79369424e-06 9.99927814e-01 3.55151204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48028169299994 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:280.05, Y:108.78, Z:3.55 [[ 7.13750454e-01 -7.00347800e-01 -8.55857582e-03 2.80050042e+02] [ 7.00297026e-01 7.13801764e-01 -8.43308043e-03 1.08777846e+02] [ 1.20152158e-02 2.55697859e-05 9.99927814e-01 3.54817457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54028169299994 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:280.09, Y:108.82, Z:3.55 [[ 7.14737857e-01 -6.99340100e-01 -8.55687980e-03 2.80090622e+02] [ 6.99289233e-01 7.14789075e-01 -8.43480099e-03 1.08819316e+02] [ 1.20151588e-02 4.49376665e-05 9.99927814e-01 3.55065015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60028169299994 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:280.13, Y:108.86, Z:3.56 [[ 7.17874486e-01 -6.96119982e-01 -8.55526446e-03 2.80127409e+02] [ 6.96068866e-01 7.17925456e-01 -8.43643908e-03 1.08863409e+02] [ 1.20148160e-02 1.01251136e-04 9.99927814e-01 3.55613665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66028169299994 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:280.16, Y:108.91, Z:3.56 [[ 7.19859604e-01 -6.94066990e-01 -8.55357200e-03 2.80164422e+02] [ 6.94015708e-01 7.19910407e-01 -8.43815469e-03 1.08908207e+02] [ 1.20144501e-02 1.37973373e-04 9.99927814e-01 3.55760933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72028169299995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:280.20, Y:108.96, Z:3.56 [[ 7.21118693e-01 -6.92758756e-01 -8.55200839e-03 2.80200011e+02] [ 6.92707363e-01 7.21169384e-01 -8.43973910e-03 1.08955041e+02] [ 1.20141498e-02 1.62014448e-04 9.99927814e-01 3.56091184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78028169299995 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:280.23, Y:109.00, Z:3.56 [[ 7.20641517e-01 -6.93255143e-01 -8.55041057e-03 2.80234909e+02] [ 6.93203766e-01 7.20692224e-01 -8.44135757e-03 1.09000678e+02] [ 1.20142290e-02 1.56015916e-04 9.99927814e-01 3.55872685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84028169299995 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:280.27, Y:109.05, Z:3.56 [[ 7.18320565e-01 -6.95659748e-01 -8.54873673e-03 2.80270363e+02] [ 6.95608520e-01 7.18371423e-01 -8.44305235e-03 1.09046818e+02] [ 1.20146598e-02 1.18244029e-04 9.99927814e-01 3.55646234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90028169299995 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:280.31, Y:109.09, Z:3.56 [[ 7.18775092e-01 -6.95190128e-01 -8.54712812e-03 2.80306869e+02] [ 6.95138848e-01 7.18825897e-01 -8.44468048e-03 1.09091152e+02] [ 1.20145555e-02 1.28385194e-04 9.99927814e-01 3.56205959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96028169299996 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:280.34, Y:109.14, Z:3.56 [[ 7.20705519e-01 -6.93188669e-01 -8.54542883e-03 2.80342190e+02] [ 6.93137228e-01 7.20756160e-01 -8.44639970e-03 1.09137431e+02] [ 1.20141190e-02 1.64212033e-04 9.99927814e-01 3.56077249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02028169299996 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:280.38, Y:109.18, Z:3.56 [[ 7.21034338e-01 -6.92846655e-01 -8.54380125e-03 2.80377810e+02] [ 6.92795170e-01 7.21084935e-01 -8.44804573e-03 1.09182367e+02] [ 1.20140066e-02 1.72226821e-04 9.99927814e-01 3.56031309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08028169299996 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:280.42, Y:109.22, Z:3.57 [[ 7.19125219e-01 -6.94827995e-01 -8.54261700e-03 2.80418438e+02] [ 6.94776635e-01 7.19175943e-01 -8.44924306e-03 1.09224272e+02] [ 1.20144153e-02 1.40853066e-04 9.99927814e-01 3.56511361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14028169299996 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:280.46, Y:109.26, Z:3.56 [[ 7.12966053e-01 -7.01146531e-01 -8.54096722e-03 2.80460256e+02] [ 7.01095601e-01 7.13017209e-01 -8.45091042e-03 1.09262757e+02] [ 1.20151831e-02 3.71777030e-05 9.99927814e-01 3.56364551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20028169299997 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:280.50, Y:109.30, Z:3.56 [[ 7.13043699e-01 -7.01067589e-01 -8.53922895e-03 2.80500569e+02] [ 7.01016632e-01 7.13094828e-01 -8.45266650e-03 1.09303199e+02] [ 1.20151705e-02 4.09790693e-05 9.99927814e-01 3.56079226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26028169299997 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:280.54, Y:109.34, Z:3.56 [[ 7.17879801e-01 -6.96114719e-01 -8.53752994e-03 2.80541818e+02] [ 6.96063389e-01 7.17930555e-01 -8.45438222e-03 1.09344568e+02] [ 1.20145735e-02 1.26568193e-04 9.99927814e-01 3.56076687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32028169299997 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:280.58, Y:109.39, Z:3.56 [[ 7.24193596e-01 -6.89543888e-01 -8.53593198e-03 2.80579894e+02] [ 6.89492078e-01 7.24243861e-01 -8.45599528e-03 1.09388246e+02] [ 1.20128762e-02 2.38320146e-04 9.99927814e-01 3.56445614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.380281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:280.62, Y:109.43, Z:3.56 [[ 7.26132455e-01 -6.87501871e-01 -8.53434062e-03 2.80618256e+02] [ 6.87449902e-01 7.26182554e-01 -8.45760108e-03 1.09430853e+02] [ 1.20121058e-02 2.74407011e-04 9.99927814e-01 3.56483599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.440281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:280.66, Y:109.48, Z:3.56 [[ 7.26925375e-01 -6.86663450e-01 -8.53267277e-03 2.80656343e+02] [ 6.86611402e-01 7.26975393e-01 -8.45928340e-03 1.09475368e+02] [ 1.20117239e-02 2.90637340e-04 9.99927814e-01 3.56490485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.500281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:280.70, Y:109.52, Z:3.57 [[ 7.27933907e-01 -6.85594229e-01 -8.53112493e-03 2.80697068e+02] [ 6.85542090e-01 7.27983830e-01 -8.46084410e-03 1.09515908e+02] [ 1.20112269e-02 3.10490098e-04 9.99927814e-01 3.56778491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.560281693 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:280.74, Y:109.56, Z:3.57 [[ 7.28994209e-01 -6.84466720e-01 -8.52947226e-03 2.80735603e+02] [ 6.84414485e-01 7.29044031e-01 -8.46250984e-03 1.09559891e+02] [ 1.20106672e-02 3.31426305e-04 9.99927814e-01 3.57485736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.620281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:280.77, Y:109.60, Z:3.57 [[ 7.28791766e-01 -6.84682289e-01 -8.52792148e-03 2.80774140e+02] [ 6.84630050e-01 7.28841584e-01 -8.46407232e-03 1.09603392e+02] [ 1.20107042e-02 3.30074904e-04 9.99927814e-01 3.57129350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.680281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:280.81, Y:109.65, Z:3.57 [[ 7.26542693e-01 -6.87068422e-01 -8.52633457e-03 2.80809647e+02] [ 6.87016328e-01 7.26592662e-01 -8.46567061e-03 1.09649011e+02] [ 1.20116671e-02 2.92940053e-04 9.99927814e-01 3.56862966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.740281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:280.85, Y:109.69, Z:3.57 [[ 7.24973008e-01 -6.88724522e-01 -8.52466950e-03 2.80849349e+02] [ 6.88672523e-01 7.25023076e-01 -8.46734695e-03 1.09691103e+02] [ 1.20122516e-02 2.67892339e-04 9.99927814e-01 3.57137758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.800281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:280.89, Y:109.73, Z:3.57 [[ 7.25134286e-01 -6.88554735e-01 -8.52309580e-03 2.80887281e+02] [ 6.88502705e-01 7.25184323e-01 -8.46893071e-03 1.09734863e+02] [ 1.20121378e-02 2.72937516e-04 9.99927814e-01 3.57289480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.860281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:280.92, Y:109.78, Z:3.57 [[ 7.27139084e-01 -6.86437278e-01 -8.52150965e-03 2.80922088e+02] [ 6.86385083e-01 7.27188949e-01 -8.47052641e-03 1.09780576e+02] [ 1.20112327e-02 3.10213697e-04 9.99927814e-01 3.57436262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.920281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:280.96, Y:109.82, Z:3.58 [[ 7.25555254e-01 -6.88111172e-01 -8.51984164e-03 2.80960313e+02] [ 6.88059073e-01 7.25605219e-01 -8.47220379e-03 1.09824616e+02] [ 1.20118596e-02 2.84897630e-04 9.99927814e-01 3.57584050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:281.00, Y:109.87, Z:3.58 [[ 7.20782968e-01 -6.93108471e-01 -8.51831447e-03 2.81001278e+02] [ 6.93056700e-01 7.20833272e-01 -8.47373900e-03 1.09865410e+02] [ 1.20135048e-02 2.04051821e-04 9.99927814e-01 3.57813739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:281.04, Y:109.91, Z:3.58 [[ 7.18672112e-01 -6.95296959e-01 -8.51676779e-03 2.81039552e+02] [ 6.95245323e-01 7.18722555e-01 -8.47529325e-03 1.09909009e+02] [ 1.20140387e-02 1.69713921e-04 9.99927814e-01 3.57630652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10028169299994 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:281.08, Y:109.95, Z:3.57 [[ 7.19550285e-01 -6.94388133e-01 -8.51520748e-03 2.81079042e+02] [ 6.94336415e-01 7.19600643e-01 -8.47686062e-03 1.09951181e+02] [ 1.20137802e-02 1.87108839e-04 9.99927814e-01 3.57371963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16028169299994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:281.12, Y:109.99, Z:3.58 [[ 7.18972061e-01 -6.94986830e-01 -8.51360330e-03 2.81119586e+02] [ 6.94935135e-01 7.19022443e-01 -8.47847145e-03 1.09992876e+02] [ 1.20138978e-02 1.79382041e-04 9.99927814e-01 3.57779715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:281.16, Y:110.03, Z:3.57 [[ 7.17358014e-01 -6.96652730e-01 -8.51196708e-03 2.81161476e+02] [ 6.96601133e-01 7.17408496e-01 -8.48011381e-03 1.10032509e+02] [ 1.20142519e-02 1.53831688e-04 9.99927814e-01 3.57469052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:281.20, Y:110.07, Z:3.57 [[ 7.15921139e-01 -6.98129284e-01 -8.51034576e-03 2.81203803e+02] [ 6.98077771e-01 7.15971707e-01 -8.48174060e-03 1.10070631e+02] [ 1.20145183e-02 1.31374186e-04 9.99927814e-01 3.56956170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34028169299995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:281.25, Y:110.11, Z:3.57 [[ 7.14498679e-01 -6.99585048e-01 -8.50869304e-03 2.81248423e+02] [ 6.99533619e-01 7.14549332e-01 -8.48339825e-03 1.10107266e+02] [ 1.20147395e-02 1.09260013e-04 9.99927814e-01 3.57442376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40028169299995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:281.29, Y:110.14, Z:3.58 [[ 7.12763977e-01 -7.01352368e-01 -8.50702826e-03 2.81292279e+02] [ 7.01301044e-01 7.12814737e-01 -8.48506734e-03 1.10143629e+02] [ 1.20149572e-02 8.18625416e-05 9.99927814e-01 3.57870475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46028169299996 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:281.34, Y:110.18, Z:3.58 [[ 7.11032537e-01 -7.03107667e-01 -8.50528358e-03 2.81337027e+02] [ 7.03056447e-01 7.11083403e-01 -8.48681582e-03 1.10181452e+02] [ 1.20151113e-02 5.47077315e-05 9.99927814e-01 3.57941980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:281.38, Y:110.22, Z:3.58 [[ 7.11081366e-01 -7.03058304e-01 -8.50365976e-03 2.81382090e+02] [ 7.03007062e-01 7.11132208e-01 -8.48844254e-03 1.10218606e+02] [ 1.20150964e-02 5.78404500e-05 9.99927814e-01 3.58021020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58028169299996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:281.43, Y:110.26, Z:3.58 [[ 7.12098418e-01 -7.02028175e-01 -8.50203212e-03 2.81425562e+02] [ 7.01976839e-01 7.12149167e-01 -8.49007247e-03 1.10256178e+02] [ 1.20149852e-02 7.75375382e-05 9.99927814e-01 3.58120282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64028169299996 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:281.47, Y:110.29, Z:3.58 [[ 7.13795785e-01 -7.00302301e-01 -8.50084833e-03 2.81468568e+02] [ 7.00250829e-01 7.13846395e-01 -8.49125760e-03 1.10294314e+02] [ 1.20147472e-02 1.08297801e-04 9.99927814e-01 3.58345015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70028169299997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:281.51, Y:110.34, Z:3.58 [[ 7.15514736e-01 -6.98545937e-01 -8.49913190e-03 2.81509773e+02] [ 6.98494321e-01 7.15565199e-01 -8.49297528e-03 1.10335429e+02] [ 1.20144164e-02 1.40253603e-04 9.99927814e-01 3.58225453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76028169299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:281.55, Y:110.38, Z:3.59 [[ 7.19227129e-01 -6.94723060e-01 -8.49748655e-03 2.81549203e+02] [ 6.94671156e-01 7.19277295e-01 -8.49462119e-03 1.10377260e+02] [ 1.20134584e-02 2.06603208e-04 9.99927814e-01 3.58634667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82028169299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:281.59, Y:110.42, Z:3.58 [[ 7.23379170e-01 -6.90398723e-01 -8.49585827e-03 2.81585312e+02] [ 6.90346499e-01 7.23429005e-01 -8.49624939e-03 1.10422114e+02] [ 1.20119500e-02 2.80923826e-04 9.99927814e-01 3.58189743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.880281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:281.62, Y:110.47, Z:3.58 [[ 7.24300524e-01 -6.89432085e-01 -8.49416819e-03 2.81622586e+02] [ 6.89379775e-01 7.24350268e-01 -8.49793872e-03 1.10466153e+02] [ 1.20115046e-02 2.99353714e-04 9.99927814e-01 3.58143141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.940281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.66, Y:110.51, Z:3.58 [[ 7.23231611e-01 -6.90553339e-01 -8.49257181e-03 2.81657079e+02] [ 6.90501087e-01 7.23281416e-01 -8.49953379e-03 1.10513071e+02] [ 1.20119008e-02 2.83001450e-04 9.99927814e-01 3.58268923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.000281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:281.69, Y:110.56, Z:3.58 [[ 7.18717543e-01 -6.95250312e-01 -8.49097252e-03 2.81691108e+02] [ 6.95198367e-01 7.18767668e-01 -8.50113117e-03 1.10561434e+02] [ 1.20134506e-02 2.07001880e-04 9.99927814e-01 3.58213870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.060281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:281.73, Y:110.61, Z:3.59 [[ 7.10581852e-01 -7.03563333e-01 -8.48935135e-03 2.81727147e+02] [ 7.03511955e-01 7.10632558e-01 -8.50274978e-03 1.10605445e+02] [ 1.20150324e-02 6.95395186e-05 9.99927814e-01 3.58534861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.120281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:281.77, Y:110.65, Z:3.59 [[ 7.01456780e-01 -7.12661452e-01 -8.48763757e-03 2.81767333e+02] [ 7.12610712e-01 7.01508124e-01 -8.50446017e-03 1.10647770e+02] [ 1.20149476e-02 -8.28701959e-05 9.99927814e-01 3.58574323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.180281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.81, Y:110.69, Z:3.59 [[ 6.95180820e-01 -7.18784818e-01 -8.48602604e-03 2.81810369e+02] [ 7.18734510e-01 6.95232587e-01 -8.50606791e-03 1.10686297e+02] [ 1.20137943e-02 -1.85944508e-04 9.99927814e-01 3.58553991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.240281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.85, Y:110.73, Z:3.58 [[ 6.93188459e-01 -7.20706442e-01 -8.48441685e-03 2.81853361e+02] [ 7.20656258e-01 6.93240346e-01 -8.50767270e-03 1.10725052e+02] [ 1.20132746e-02 -2.16927569e-04 9.99927814e-01 3.58338899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.300281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:281.90, Y:110.76, Z:3.59 [[ 6.96639211e-01 -7.17371488e-01 -8.48280657e-03 2.81898760e+02] [ 7.17321036e-01 6.96690838e-01 -8.50927797e-03 1.10760762e+02] [ 1.20142070e-02 -1.56998908e-04 9.99927814e-01 3.58681059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.360281693 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:281.94, Y:110.80, Z:3.59 [[ 6.99028150e-01 -7.15043856e-01 -8.48110839e-03 2.81939912e+02] [ 7.14993212e-01 6.99079588e-01 -8.51097019e-03 1.10799785e+02] [ 1.20146867e-02 -1.14527184e-04 9.99927814e-01 3.58814846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.420281693 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:281.98, Y:110.84, Z:3.59 [[ 7.00495034e-01 -7.13606899e-01 -8.47943242e-03 2.81983194e+02] [ 7.13556129e-01 7.00546348e-01 -8.51263962e-03 1.10838804e+02] [ 1.20149138e-02 -8.74891933e-05 9.99927814e-01 3.58538387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48028169299994 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:282.02, Y:110.88, Z:3.59 [[ 7.00406104e-01 -7.13694204e-01 -8.47781563e-03 2.82023446e+02] [ 7.13643420e-01 7.00457405e-01 -8.51424949e-03 1.10879044e+02] [ 1.20149192e-02 -8.67050315e-05 9.99927814e-01 3.58551327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.06, Y:110.92, Z:3.59 [[ 7.01665005e-01 -7.12456578e-01 -8.47611093e-03 2.82063962e+02] [ 7.12405684e-01 7.01716196e-01 -8.51594622e-03 1.10920961e+02] [ 1.20150662e-02 -6.30881567e-05 9.99927814e-01 3.58982699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60028169299994 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:282.10, Y:110.96, Z:3.59 [[ 7.01045887e-01 -7.13065808e-01 -8.47450594e-03 2.82103780e+02] [ 7.13014939e-01 7.01097103e-01 -8.51754310e-03 1.10962579e+02] [ 1.20150203e-02 -7.12607730e-05 9.99927815e-01 3.59153944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66028169299994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:282.15, Y:111.00, Z:3.59 [[ 6.98868210e-01 -7.15200276e-01 -8.47291444e-03 2.82146748e+02] [ 7.15149545e-01 6.98919562e-01 -8.51912597e-03 1.11001928e+02] [ 1.20147669e-02 -1.05654586e-04 9.99927815e-01 3.59360832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72028169299995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:282.19, Y:111.04, Z:3.59 [[ 6.94976621e-01 -7.18982429e-01 -8.47130476e-03 2.82190839e+02] [ 7.18931957e-01 6.95028228e-01 -8.52072631e-03 1.11038735e+02] [ 1.20140484e-02 -1.68586134e-04 9.99927815e-01 3.58974152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78028169299995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:282.24, Y:111.07, Z:3.59 [[ 6.92644782e-01 -7.21229139e-01 -8.46963944e-03 2.82235936e+02] [ 7.21178815e-01 6.92696533e-01 -8.52238132e-03 1.11072725e+02] [ 1.20134796e-02 -2.05141585e-04 9.99927815e-01 3.59498111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84028169299995 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:282.28, Y:111.11, Z:3.60 [[ 6.91548380e-01 -7.22280509e-01 -8.46778762e-03 2.82281593e+02] [ 7.22230241e-01 6.91600186e-01 -8.52422089e-03 1.11108694e+02] [ 1.20132021e-02 -2.20781137e-04 9.99927815e-01 3.59777661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90028169299995 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:282.33, Y:111.14, Z:3.60 [[ 6.89820553e-01 -7.23930887e-01 -8.46614505e-03 2.82329008e+02] [ 7.23880722e-01 6.89872459e-01 -8.52585196e-03 1.11141319e+02] [ 1.20126879e-02 -2.47171280e-04 9.99927815e-01 3.59519837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96028169299996 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:282.38, Y:111.17, Z:3.59 [[ 6.91101599e-01 -7.22708056e-01 -8.46442337e-03 2.82378284e+02] [ 7.22657778e-01 6.91153396e-01 -8.52756089e-03 1.11174006e+02] [ 1.20131519e-02 -2.23470424e-04 9.99927815e-01 3.59076101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02028169299996 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:282.42, Y:111.21, Z:3.59 [[ 6.98568156e-01 -7.15493475e-01 -8.46279906e-03 2.82424786e+02] [ 7.15442643e-01 6.98619409e-01 -8.52917256e-03 1.11209583e+02] [ 1.20148430e-02 -9.64389698e-05 9.99927815e-01 3.59416564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08028169299996 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:282.47, Y:111.25, Z:3.60 [[ 7.07482991e-01 -7.06679720e-01 -8.46118457e-03 2.82467434e+02] [ 7.06628230e-01 7.07533583e-01 -8.53077388e-03 1.11246137e+02] [ 1.20150971e-02 5.64655376e-05 9.99927815e-01 3.59530506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14028169299996 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:282.51, Y:111.29, Z:3.59 [[ 7.13165529e-01 -7.00944626e-01 -8.45927002e-03 2.82507220e+02] [ 7.00892707e-01 7.13215680e-01 -8.53267195e-03 1.11285570e+02] [ 1.20142146e-02 1.56166842e-04 9.99927815e-01 3.59483479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20028169299997 meters Centerline goodness : 0.999196 with order 1 Centerline is valid? [True, True] Translation: X:282.55, Y:111.33, Z:3.60 [[ 7.20872392e-01 -6.93016210e-01 -8.45739266e-03 2.82545289e+02] [ 6.92963718e-01 7.20921943e-01 -8.53453234e-03 1.11327481e+02] [ 1.20116892e-02 2.91642482e-04 9.99927815e-01 3.60100881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26028169299997 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:282.59, Y:111.37, Z:3.60 [[ 7.21784965e-01 -6.92065725e-01 -8.45552579e-03 2.82585834e+02] [ 6.92013146e-01 7.21834424e-01 -8.53638154e-03 1.11369024e+02] [ 1.20112267e-02 3.10096851e-04 9.99927815e-01 3.60114956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32028169299997 meters Centerline goodness : 0.999325 with order 1 Centerline is valid? [True, True] Translation: X:282.63, Y:111.41, Z:3.60 [[ 7.22083233e-01 -6.91754534e-01 -8.45397578e-03 2.82625288e+02] [ 6.91701916e-01 7.22132650e-01 -8.53791631e-03 1.11410163e+02] [ 1.20110342e-02 3.17454964e-04 9.99927815e-01 3.60477380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.380281693 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:282.67, Y:111.45, Z:3.60 [[ 7.22387120e-01 -6.91437204e-01 -8.45234361e-03 2.82665133e+02] [ 6.91384545e-01 7.22436494e-01 -8.53953181e-03 1.11451588e+02] [ 1.20108315e-02 3.25028045e-04 9.99927815e-01 3.60432905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.440281693 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:282.70, Y:111.49, Z:3.61 [[ 7.24389316e-01 -6.89339325e-01 -8.45063676e-03 2.82704415e+02] [ 6.89286504e-01 7.24438516e-01 -8.54122056e-03 1.11493658e+02] [ 1.20097660e-02 3.62259060e-04 9.99927815e-01 3.60512862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.500281693 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:282.74, Y:111.54, Z:3.61 [[ 7.29291336e-01 -6.84151124e-01 -8.44903903e-03 2.82739957e+02] [ 6.84097935e-01 7.29340138e-01 -8.54280075e-03 1.11539267e+02] [ 1.20067900e-02 4.50220427e-04 9.99927815e-01 3.60639249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.560281693 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:282.78, Y:111.58, Z:3.61 [[ 7.31165380e-01 -6.82147946e-01 -8.44788164e-03 2.82776686e+02] [ 6.82094610e-01 7.31214021e-01 -8.54394513e-03 1.11584099e+02] [ 1.20054441e-02 4.84782359e-04 9.99927815e-01 3.60510509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.620281693 meters Centerline goodness : 0.999380 with order 1 Centerline is valid? [True, True] Translation: X:282.81, Y:111.63, Z:3.61 [[ 7.28773612e-01 -6.84702623e-01 -8.44633086e-03 2.82811542e+02] [ 6.84649439e-01 7.28822421e-01 -8.54547792e-03 1.11630526e+02] [ 1.20069864e-02 4.44943126e-04 9.99927815e-01 3.60599618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.680281693 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:282.85, Y:111.68, Z:3.61 [[ 7.25606479e-01 -6.88058082e-01 -8.44472004e-03 2.82846893e+02] [ 6.88005105e-01 7.25655513e-01 -8.54706945e-03 1.11675573e+02] [ 1.20088379e-02 3.91798476e-04 9.99927815e-01 3.61079625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.740281693 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:282.88, Y:111.72, Z:3.61 [[ 7.23519419e-01 -6.90252392e-01 -8.44302194e-03 2.82881965e+02] [ 6.90199545e-01 7.23568592e-01 -8.54874655e-03 1.11722176e+02] [ 1.20098983e-02 3.57814242e-04 9.99927815e-01 3.61046323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.800281693 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:282.92, Y:111.77, Z:3.61 [[ 7.22350895e-01 -6.91475182e-01 -8.44140878e-03 2.82917324e+02] [ 6.91422399e-01 7.22400137e-01 -8.55033916e-03 1.11766797e+02] [ 1.20104222e-02 3.39766032e-04 9.99927815e-01 3.60878315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.860281693 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:282.96, Y:111.81, Z:3.61 [[ 7.21678664e-01 -6.92176761e-01 -8.44023018e-03 2.82955477e+02] [ 6.92124013e-01 7.21727943e-01 -8.55150242e-03 1.11808898e+02] [ 1.20107012e-02 3.29750865e-04 9.99927815e-01 3.61061677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.920281693 meters Centerline goodness : 0.999277 with order 1 Centerline is valid? [True, True] Translation: X:282.99, Y:111.85, Z:3.61 [[ 7.19226314e-01 -6.94724615e-01 -8.43907955e-03 2.82992383e+02] [ 6.94672028e-01 7.19275765e-01 -8.55263778e-03 1.11852232e+02] [ 1.20117534e-02 2.88889645e-04 9.99927815e-01 3.60981162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98028169299994 meters Centerline goodness : 0.999448 with order 1 Centerline is valid? [True, True] Translation: X:283.03, Y:111.90, Z:3.61 [[ 7.19235643e-01 -6.94714977e-01 -8.43744175e-03 2.83031667e+02] [ 6.94662370e-01 7.19285073e-01 -8.55425321e-03 1.11895605e+02] [ 1.20116937e-02 2.91350520e-04 9.99927815e-01 3.61086223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04028169299994 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:283.07, Y:111.94, Z:3.61 [[ 7.20373099e-01 -6.93535461e-01 -8.43584534e-03 2.83065406e+02] [ 6.93482755e-01 7.20422422e-01 -8.55582723e-03 1.11941833e+02] [ 1.20111417e-02 3.13274505e-04 9.99927815e-01 3.61329921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10028169299994 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:283.10, Y:111.99, Z:3.61 [[ 7.22063643e-01 -6.91775218e-01 -8.43468619e-03 2.83102058e+02] [ 6.91722378e-01 7.22112823e-01 -8.55696982e-03 1.11987304e+02] [ 1.20102947e-02 3.44215608e-04 9.99927815e-01 3.61430781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16028169299994 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:283.14, Y:112.03, Z:3.62 [[ 7.20046418e-01 -6.93874657e-01 -8.43308616e-03 2.83137362e+02] [ 6.93821942e-01 7.20095732e-01 -8.55854639e-03 1.12031978e+02] [ 1.20111878e-02 3.11490458e-04 9.99927815e-01 3.61606976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22028169299995 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:283.17, Y:112.08, Z:3.61 [[ 7.15980951e-01 -6.98068901e-01 -8.43139240e-03 2.83173067e+02] [ 6.98016455e-01 7.16030551e-01 -8.56021466e-03 1.12076683e+02] [ 1.20127542e-02 2.43699992e-04 9.99927815e-01 3.61389416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28028169299995 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:283.21, Y:112.12, Z:3.62 [[ 7.14745053e-01 -6.99334290e-01 -8.42972355e-03 2.83208975e+02] [ 6.99281913e-01 7.14794726e-01 -8.56185776e-03 1.12121280e+02] [ 1.20131227e-02 2.24792267e-04 9.99927815e-01 3.61908273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34028169299995 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:283.24, Y:112.17, Z:3.62 [[ 7.14896102e-01 -6.99179899e-01 -8.42806599e-03 2.83243413e+02] [ 6.99127492e-01 7.14945743e-01 -8.56348911e-03 1.12168125e+02] [ 1.20130294e-02 2.29712340e-04 9.99927815e-01 3.62435946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40028169299995 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:283.28, Y:112.22, Z:3.62 [[ 7.13788425e-01 -7.00310701e-01 -8.42652634e-03 2.83275678e+02] [ 7.00258355e-01 7.13838131e-01 -8.56500386e-03 1.12217280e+02] [ 1.20133397e-02 2.12855134e-04 9.99927815e-01 3.62143830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46028169299996 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:283.31, Y:112.26, Z:3.62 [[ 7.08107401e-01 -7.06054481e-01 -8.42489124e-03 2.83311565e+02] [ 7.06002519e-01 7.08157508e-01 -8.56661191e-03 1.12262010e+02] [ 1.20146447e-02 1.18086856e-04 9.99927815e-01 3.62015979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52028169299996 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:283.35, Y:112.31, Z:3.62 [[ 7.01454459e-01 -7.12664502e-01 -8.42317576e-03 2.83350328e+02] [ 7.12612992e-01 7.01505031e-01 -8.56829833e-03 1.12305611e+02] [ 1.20152222e-02 7.80658754e-06 9.99927815e-01 3.61679467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58028169299996 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:283.39, Y:112.35, Z:3.62 [[ 6.99274140e-01 -7.14803997e-01 -8.42157675e-03 2.83389077e+02] [ 7.14752623e-01 6.99324849e-01 -8.56986967e-03 1.12349451e+02] [ 1.20151950e-02 -2.66558317e-05 9.99927815e-01 3.61673418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64028169299996 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:283.43, Y:112.39, Z:3.62 [[ 6.97178008e-01 -7.16848610e-01 -8.41996739e-03 2.83426627e+02] [ 7.16797366e-01 6.97228848e-01 -8.57145059e-03 1.12393566e+02] [ 1.20150766e-02 -5.95836022e-05 9.99927815e-01 3.62069167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70028169299997 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:283.47, Y:112.43, Z:3.62 [[ 6.93297941e-01 -7.20601899e-01 -8.41833673e-03 2.83468350e+02] [ 7.20550911e-01 6.93349038e-01 -8.57305183e-03 1.12433263e+02] [ 1.20146031e-02 -1.22161018e-04 9.99927815e-01 3.61707479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76028169299997 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:283.51, Y:112.47, Z:3.62 [[ 6.88578583e-01 -7.25112884e-01 -8.41667770e-03 2.83510653e+02] [ 7.25062210e-01 6.88629992e-01 -8.57468029e-03 1.12472208e+02] [ 1.20135879e-02 -1.98273736e-04 9.99927815e-01 3.61540640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82028169299997 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:283.56, Y:112.51, Z:3.62 [[ 6.86114295e-01 -7.27445093e-01 -8.41493173e-03 2.83555056e+02] [ 7.27394573e-01 6.86165855e-01 -8.57639339e-03 1.12509132e+02] [ 1.20128941e-02 -2.36589571e-04 9.99927815e-01 3.62122146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.880281693 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:283.60, Y:112.54, Z:3.62 [[ 6.85236018e-01 -7.28272488e-01 -8.41332799e-03 2.83602776e+02] [ 7.28222010e-01 6.85287620e-01 -8.57796634e-03 1.12542983e+02] [ 1.20126464e-02 -2.48839130e-04 9.99927815e-01 3.62146965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.940281693 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:283.65, Y:112.58, Z:3.63 [[ 6.86311652e-01 -7.27258936e-01 -8.41171395e-03 2.83649347e+02] [ 7.27208363e-01 6.86363160e-01 -8.57954881e-03 1.12579111e+02] [ 1.20130441e-02 -2.28824423e-04 9.99927815e-01 3.62525852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.000281693 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:283.69, Y:112.62, Z:3.63 [[ 6.91732903e-01 -7.22104467e-01 -8.41010448e-03 2.83693463e+02] [ 7.22053492e-01 6.91784012e-01 -8.58112620e-03 1.12615985e+02] [ 1.20144454e-02 -1.36697971e-04 9.99927815e-01 3.62809232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.060281693 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:283.74, Y:112.65, Z:3.63 [[ 6.99698023e-01 -7.14389232e-01 -8.40841677e-03 2.83736084e+02] [ 7.14337673e-01 6.99748544e-01 -8.58277963e-03 1.12653833e+02] [ 1.20152227e-02 -1.09492839e-06 9.99927815e-01 3.62556155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.120281693 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:283.78, Y:112.69, Z:3.62 [[ 7.05515431e-01 -7.08644694e-01 -8.40673674e-03 2.83776914e+02] [ 7.08592704e-01 7.05565509e-01 -8.58442489e-03 1.12694928e+02] [ 1.20148106e-02 9.94919098e-05 9.99927815e-01 3.62163920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.180281693 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:283.82, Y:112.74, Z:3.62 [[ 7.08222486e-01 -7.05939279e-01 -8.40511568e-03 2.83816146e+02] [ 7.05887078e-01 7.08272344e-01 -8.58601179e-03 1.12736530e+02] [ 1.20143140e-02 1.47744068e-04 9.99927815e-01 3.62299436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.240281693 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:283.85, Y:112.78, Z:3.63 [[ 7.09712290e-01 -7.04441515e-01 -8.40339757e-03 2.83853032e+02] [ 7.04389190e-01 7.09762017e-01 -8.58769303e-03 1.12780456e+02] [ 1.20139399e-02 1.75528882e-04 9.99927815e-01 3.62537739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.300281693 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:283.89, Y:112.82, Z:3.62 [[ 7.10273903e-01 -7.03875269e-01 -8.40166820e-03 2.83892600e+02] [ 7.03822884e-01 7.10323568e-01 -8.58938461e-03 1.12822212e+02] [ 1.20137583e-02 1.87529393e-04 9.99927815e-01 3.62431841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.360281693 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:283.93, Y:112.87, Z:3.62 [[ 7.11482272e-01 -7.02653839e-01 -8.39994584e-03 2.83929036e+02] [ 7.02601349e-01 7.11531825e-01 -8.59106864e-03 1.12865696e+02] [ 1.20133762e-02 2.10579762e-04 9.99927815e-01 3.62172455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.420281693 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:283.97, Y:112.91, Z:3.62 [[ 7.10332933e-01 -7.03815740e-01 -8.39814182e-03 2.83967207e+02] [ 7.03763310e-01 7.10382550e-01 -8.59283179e-03 1.12909455e+02] [ 1.20136637e-02 1.93467331e-04 9.99927815e-01 3.62486589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48028169299994 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:284.00, Y:112.95, Z:3.63 [[ 7.08143415e-01 -7.06018698e-01 -8.39651888e-03 2.84002952e+02] [ 7.05966404e-01 7.08193175e-01 -8.59441736e-03 1.12954771e+02] [ 1.20141767e-02 1.58419820e-04 9.99927815e-01 3.63173643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54028169299994 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:284.04, Y:113.00, Z:3.63 [[ 7.04871427e-01 -7.09285415e-01 -8.39478880e-03 2.84039573e+02] [ 7.09233331e-01 7.04921407e-01 -8.59610693e-03 1.12998588e+02] [ 1.20147596e-02 1.05286131e-04 9.99927815e-01 3.63234763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60028169299994 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:284.08, Y:113.04, Z:3.63 [[ 7.01303528e-01 -7.12813382e-01 -8.39307455e-03 2.84078098e+02] [ 7.12761530e-01 7.01353748e-01 -8.59778037e-03 1.13040652e+02] [ 1.20151272e-02 4.73930505e-05 9.99927815e-01 3.63305033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66028169299994 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:284.12, Y:113.08, Z:3.64 [[ 6.95766960e-01 -7.18218575e-01 -8.39139900e-03 2.84115171e+02] [ 7.18167093e-01 6.95817560e-01 -8.59941538e-03 1.13084453e+02] [ 1.20151426e-02 -4.32375229e-05 9.99927815e-01 3.63552296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72028169299995 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:284.15, Y:113.13, Z:3.63 [[ 6.92495181e-01 -7.21373716e-01 -8.38966578e-03 2.84154552e+02] [ 7.21322444e-01 6.92545994e-01 -8.60110599e-03 1.13127208e+02] [ 1.20148412e-02 -9.54297754e-05 9.99927815e-01 3.63329733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78028169299995 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:284.19, Y:113.17, Z:3.63 [[ 6.92125397e-01 -7.21728533e-01 -8.38805227e-03 2.84193554e+02] [ 7.21677268e-01 6.92176216e-01 -8.60267925e-03 1.13169905e+02] [ 1.20148094e-02 -9.93338610e-05 9.99927815e-01 3.63482186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84028169299995 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:284.23, Y:113.21, Z:3.63 [[ 6.95043116e-01 -7.18919143e-01 -8.38644826e-03 2.84232036e+02] [ 7.18867654e-01 6.95093708e-01 -8.60424266e-03 1.13213075e+02] [ 1.20151222e-02 -4.84267587e-05 9.99927815e-01 3.63231297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90028169299995 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:284.27, Y:113.26, Z:3.63 [[ 6.99639805e-01 -7.14446525e-01 -8.38484448e-03 2.84267066e+02] [ 7.14394694e-01 6.99690047e-01 -8.60580526e-03 1.13258376e+02] [ 1.20151799e-02 3.08755133e-05 9.99927815e-01 3.63413693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96028169299996 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:284.30, Y:113.30, Z:3.63 [[ 7.02234053e-01 -7.11896803e-01 -8.38315162e-03 2.84304757e+02] [ 7.11844769e-01 7.02284085e-01 -8.60745400e-03 1.13302237e+02] [ 1.20149730e-02 7.69446781e-05 9.99927815e-01 3.63331866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02028169299996 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:284.34, Y:113.35, Z:3.63 [[ 7.03853427e-01 -7.10295787e-01 -8.38147253e-03 2.84341709e+02] [ 7.10243620e-01 7.03903320e-01 -8.60908870e-03 1.13346276e+02] [ 1.20147458e-02 1.06649200e-04 9.99927815e-01 3.63475218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08028169299996 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:284.38, Y:113.39, Z:3.64 [[ 7.03325912e-01 -7.10818143e-01 -8.38024935e-03 2.84379065e+02] [ 7.10765999e-01 7.03375829e-01 -8.61027920e-03 1.13390487e+02] [ 1.20148075e-02 9.94361729e-05 9.99927815e-01 3.63591355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14028169299996 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:284.42, Y:113.43, Z:3.64 [[ 6.99989513e-01 -7.14103971e-01 -8.37861333e-03 2.84416690e+02] [ 7.14052042e-01 7.00039654e-01 -8.61187091e-03 1.13433461e+02] [ 1.20151328e-02 4.54533602e-05 9.99927815e-01 3.63974158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20028169299997 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:284.46, Y:113.47, Z:3.64 [[ 6.93675847e-01 -7.20238605e-01 -8.37689190e-03 2.84459227e+02] [ 7.20187099e-01 6.93726422e-01 -8.61354505e-03 1.13472106e+02] [ 1.20150789e-02 -5.79213207e-05 9.99927815e-01 3.63982810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26028169299997 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:284.50, Y:113.51, Z:3.64 [[ 6.89114408e-01 -7.24604154e-01 -8.37572492e-03 2.84504518e+02] [ 7.24552955e-01 6.89165294e-01 -8.61467965e-03 1.13508455e+02] [ 1.20144916e-02 -1.32156370e-04 9.99927815e-01 3.63804940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32028169299997 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:284.55, Y:113.55, Z:3.64 [[ 6.90819067e-01 -7.22979177e-01 -8.37413933e-03 2.84548752e+02] [ 7.22927840e-01 6.90869814e-01 -8.61622070e-03 1.13545082e+02] [ 1.20147882e-02 -1.01648907e-04 9.99927815e-01 3.63651102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.380281693 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:284.59, Y:113.58, Z:3.64 [[ 6.95819052e-01 -7.18168329e-01 -8.37247355e-03 2.84591611e+02] [ 7.18116621e-01 6.95869421e-01 -8.61783905e-03 1.13582774e+02] [ 1.20152074e-02 -1.59558130e-05 9.99927815e-01 3.63791513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.440281693 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:284.63, Y:113.62, Z:3.64 [[ 6.98253793e-01 -7.15801349e-01 -8.37076727e-03 2.84634425e+02] [ 7.15749451e-01 6.98303965e-01 -8.61949609e-03 1.13622182e+02] [ 1.20151869e-02 2.72237568e-05 9.99927815e-01 3.63964599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.500281693 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:284.68, Y:113.66, Z:3.65 [[ 6.99592086e-01 -7.14493437e-01 -8.36912978e-03 2.84676482e+02] [ 7.14441426e-01 6.99642141e-01 -8.62108573e-03 1.13660351e+02] [ 1.20151050e-02 5.19903353e-05 9.99927815e-01 3.64519824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.560281693 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:284.72, Y:113.70, Z:3.64 [[ 6.99285966e-01 -7.14793064e-01 -8.36740184e-03 2.84715925e+02] [ 7.14741055e-01 6.99336023e-01 -8.62276249e-03 1.13700465e+02] [ 1.20151163e-02 4.92511755e-05 9.99927815e-01 3.64368110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.620281693 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:284.76, Y:113.74, Z:3.64 [[ 6.97608880e-01 -7.16429946e-01 -8.36556448e-03 2.84758307e+02] [ 7.16378033e-01 6.97659037e-01 -8.62454468e-03 1.13739161e+02] [ 1.20151937e-02 2.36523263e-05 9.99927815e-01 3.64214017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.680281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:284.80, Y:113.78, Z:3.65 [[ 6.97076669e-01 -7.16947812e-01 -8.36382708e-03 2.84799009e+02] [ 7.16895915e-01 6.97126843e-01 -8.62622922e-03 1.13778512e+02] [ 1.20152045e-02 1.71496598e-05 9.99927815e-01 3.64741115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.740281693 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:284.84, Y:113.82, Z:3.65 [[ 6.98744280e-01 -7.15322660e-01 -8.36197117e-03 2.84838206e+02] [ 7.15270625e-01 6.98794311e-01 -8.62802791e-03 1.13820287e+02] [ 1.20151218e-02 4.77128032e-05 9.99927815e-01 3.64723061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.800281693 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:284.88, Y:113.86, Z:3.65 [[ 7.03749822e-01 -7.10398687e-01 -8.36020713e-03 2.84876671e+02] [ 7.10346282e-01 7.03799465e-01 -8.62973685e-03 1.13863707e+02] [ 1.20144630e-02 1.34533719e-04 9.99927815e-01 3.64601805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.860281693 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:284.91, Y:113.91, Z:3.65 [[ 7.05101608e-01 -7.09057020e-01 -8.35851653e-03 2.84914324e+02] [ 7.09004501e-01 7.05151131e-01 -8.63137401e-03 1.13906100e+02] [ 1.20141537e-02 1.59769855e-04 9.99927815e-01 3.65058223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.920281693 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:284.95, Y:113.95, Z:3.65 [[ 7.05264954e-01 -7.08894562e-01 -8.35728237e-03 2.84951317e+02] [ 7.08842018e-01 7.05314449e-01 -8.63256881e-03 1.13950679e+02] [ 1.20140931e-02 1.64255346e-04 9.99927815e-01 3.64751175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98028169299994 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:284.99, Y:113.99, Z:3.64 [[ 7.03281490e-01 -7.10862384e-01 -8.35564482e-03 2.84989927e+02] [ 7.10809959e-01 7.03331112e-01 -8.63415354e-03 1.13994163e+02] [ 1.20144799e-02 1.32964808e-04 9.99927815e-01 3.64464404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04028169299994 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:285.03, Y:114.03, Z:3.65 [[ 6.99036522e-01 -7.15037168e-01 -8.35399228e-03 2.85030114e+02] [ 7.14985021e-01 6.99086435e-01 -8.63575217e-03 1.14034235e+02] [ 1.20150465e-02 6.37268145e-05 9.99927815e-01 3.64866644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10028169299994 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:285.07, Y:114.07, Z:3.65 [[ 6.97423428e-01 -7.16610635e-01 -8.35224696e-03 2.85072402e+02] [ 7.16558580e-01 6.97473438e-01 -8.63743986e-03 1.14074164e+02] [ 1.20151517e-02 3.90787025e-05 9.99927815e-01 3.65183951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16028169299994 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:285.11, Y:114.12, Z:3.65 [[ 6.97738682e-01 -7.16303706e-01 -8.35059406e-03 2.85113520e+02] [ 7.16251610e-01 6.97788649e-01 -8.63903757e-03 1.14115526e+02] [ 1.20151244e-02 4.66642516e-05 9.99927815e-01 3.65216184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22028169299995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:285.16, Y:114.15, Z:3.65 [[ 7.01966500e-01 -7.12161026e-01 -8.34895797e-03 2.85157609e+02] [ 7.12108616e-01 7.02016138e-01 -8.64061843e-03 1.14153861e+02] [ 1.20146149e-02 1.20059769e-04 9.99927815e-01 3.65382267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28028169299995 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:285.20, Y:114.19, Z:3.65 [[ 7.10242384e-01 -7.03907720e-01 -8.34728712e-03 2.85196915e+02] [ 7.03854714e-01 7.10291386e-01 -8.64223226e-03 1.14194941e+02] [ 1.20123401e-02 2.62802260e-04 9.99927815e-01 3.65065286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34028169299995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:285.23, Y:114.24, Z:3.65 [[ 7.18377265e-01 -6.95603657e-01 -8.34606601e-03 2.85234783e+02] [ 6.95550072e-01 7.18425632e-01 -8.64341136e-03 1.14239364e+02] [ 1.20084163e-02 4.04123403e-04 9.99927815e-01 3.64657347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40028169299995 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:285.27, Y:114.28, Z:3.66 [[ 7.22807527e-01 -6.90999023e-01 -8.34443354e-03 2.85271518e+02] [ 6.90945111e-01 7.22855530e-01 -8.64498708e-03 1.14282751e+02] [ 1.20054976e-02 4.83116168e-04 9.99927815e-01 3.65722674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:285.31, Y:114.33, Z:3.66 [[ 7.23409780e-01 -6.90368514e-01 -8.34299950e-03 2.85309227e+02] [ 6.90314545e-01 7.23457718e-01 -8.64637080e-03 1.14326663e+02] [ 1.20049895e-02 4.95575294e-04 9.99927815e-01 3.65794846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52028169299996 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:285.35, Y:114.37, Z:3.66 [[ 7.21793617e-01 -6.92058087e-01 -8.34140246e-03 2.85348225e+02] [ 6.92004213e-01 7.21841661e-01 -8.64791124e-03 1.14370240e+02] [ 1.20060287e-02 4.69721487e-04 9.99927815e-01 3.65849958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:285.39, Y:114.41, Z:3.66 [[ 7.19453916e-01 -6.94490108e-01 -8.33982237e-03 2.85386076e+02] [ 6.94436378e-01 7.19502122e-01 -8.64943477e-03 1.14413025e+02] [ 1.20074668e-02 4.31393673e-04 9.99927815e-01 3.65694057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64028169299996 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:285.42, Y:114.46, Z:3.66 [[ 7.18467453e-01 -6.95510600e-01 -8.33815222e-03 2.85424346e+02] [ 6.95456920e-01 7.18515714e-01 -8.65104451e-03 1.14456400e+02] [ 1.20079866e-02 4.16668246e-04 9.99927815e-01 3.65655221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70028169299997 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:285.46, Y:114.50, Z:3.66 [[ 7.16728066e-01 -6.97302933e-01 -8.33661579e-03 2.85463028e+02] [ 6.97249357e-01 7.16776442e-01 -8.65252484e-03 1.14500217e+02] [ 1.20089208e-02 3.88807398e-04 9.99927815e-01 3.65522562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76028169299997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:285.50, Y:114.54, Z:3.66 [[ 7.15923326e-01 -6.98129156e-01 -8.33508276e-03 2.85503175e+02] [ 6.98075618e-01 7.15971745e-01 -8.65400138e-03 1.14542615e+02] [ 1.20092944e-02 3.77083399e-04 9.99927815e-01 3.65572573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82028169299997 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:285.54, Y:114.59, Z:3.66 [[ 7.16566048e-01 -6.97469463e-01 -8.33348738e-03 2.85539147e+02] [ 6.97415863e-01 7.16614398e-01 -8.65553740e-03 1.14586600e+02] [ 1.20088701e-02 3.90357931e-04 9.99927815e-01 3.65813134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.880281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:285.58, Y:114.63, Z:3.66 [[ 7.17294640e-01 -6.96720159e-01 -8.33181260e-03 2.85576162e+02] [ 6.96666490e-01 7.17342914e-01 -8.65714924e-03 1.14629918e+02] [ 1.20083771e-02 4.05232120e-04 9.99927815e-01 3.65798691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.940281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:285.61, Y:114.68, Z:3.66 [[ 7.16470947e-01 -6.97567194e-01 -8.33016331e-03 2.85612342e+02] [ 6.97513564e-01 7.16519263e-01 -8.65873594e-03 1.14675831e+02] [ 1.20087726e-02 3.93330839e-04 9.99927815e-01 3.66112575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.000281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:285.65, Y:114.72, Z:3.66 [[ 7.12348501e-01 -7.01776495e-01 -8.32852107e-03 2.85651983e+02] [ 7.01723132e-01 7.12397112e-01 -8.66031527e-03 1.14717239e+02] [ 1.20108201e-02 3.24846704e-04 9.99927815e-01 3.65727496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.060281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:285.69, Y:114.76, Z:3.66 [[ 7.09526500e-01 -7.04629556e-01 -8.32679557e-03 2.85689374e+02] [ 7.04576368e-01 7.09575304e-01 -8.66197400e-03 1.14761104e+02] [ 1.20119714e-02 2.79036716e-04 9.99927815e-01 3.65910441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.120281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:285.73, Y:114.81, Z:3.66 [[ 7.09100848e-01 -7.05057925e-01 -8.32521978e-03 2.85725588e+02] [ 7.05004749e-01 7.09149665e-01 -8.66348826e-03 1.14805367e+02] [ 1.20120879e-02 2.73967392e-04 9.99927815e-01 3.66339846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.180281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:285.76, Y:114.85, Z:3.66 [[ 7.07041230e-01 -7.07123339e-01 -8.32356362e-03 2.85763715e+02] [ 7.07070288e-01 7.07090181e-01 -8.66507915e-03 1.14849168e+02] [ 1.20127898e-02 2.41223703e-04 9.99927815e-01 3.65937471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.240281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:285.80, Y:114.89, Z:3.66 [[ 7.01503058e-01 -7.12617853e-01 -8.32195565e-03 2.85803047e+02] [ 7.12565166e-01 7.01552403e-01 -8.66662317e-03 1.14889758e+02] [ 1.20142784e-02 1.49726943e-04 9.99927815e-01 3.66347988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.300281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:285.85, Y:114.93, Z:3.67 [[ 6.97788718e-01 -7.16255316e-01 -8.32026698e-03 2.85845288e+02] [ 7.16202867e-01 6.97838315e-01 -8.66824405e-03 1.14930057e+02] [ 1.20148770e-02 8.96038408e-05 9.99927815e-01 3.66962754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.360281693 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:285.89, Y:114.97, Z:3.67 [[ 6.95459911e-01 -7.18516745e-01 -8.31866526e-03 2.85890177e+02] [ 7.18464439e-01 6.95509658e-01 -8.66978090e-03 1.14967928e+02] [ 1.20150948e-02 5.28198794e-05 9.99927815e-01 3.66971595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.420281693 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:285.94, Y:115.00, Z:3.67 [[ 6.92961657e-01 -7.20926466e-01 -8.31701140e-03 2.85937260e+02] [ 7.20874315e-01 6.93011566e-01 -8.67136718e-03 1.15002027e+02] [ 1.20152032e-02 1.34050799e-05 9.99927815e-01 3.67033691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48028169299994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:285.98, Y:115.04, Z:3.67 [[ 6.92514562e-01 -7.21355972e-01 -8.31527339e-03 2.85982380e+02] [ 7.21303831e-01 6.92564482e-01 -8.67303350e-03 1.15038018e+02] [ 1.20152075e-02 8.36344230e-06 9.99927815e-01 3.66804493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54028169299994 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:286.03, Y:115.07, Z:3.67 [[ 6.94334598e-01 -7.19604301e-01 -8.31360131e-03 2.86030665e+02] [ 7.19552015e-01 6.94384367e-01 -8.67463598e-03 1.15072214e+02] [ 1.20151401e-02 4.10313184e-05 9.99927815e-01 3.66591477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60028169299994 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:286.08, Y:115.10, Z:3.67 [[ 6.96851247e-01 -7.17167519e-01 -8.31199015e-03 2.86079520e+02] [ 7.17115040e-01 6.96900813e-01 -8.67617952e-03 1.15104817e+02] [ 1.20149068e-02 8.53533663e-05 9.99927815e-01 3.66645287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66028169299994 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:286.12, Y:115.14, Z:3.67 [[ 6.99984804e-01 -7.14109385e-01 -8.31029367e-03 2.86123494e+02] [ 7.14056670e-01 7.00034119e-01 -8.67780415e-03 1.15139747e+02] [ 1.20143905e-02 1.40310410e-04 9.99927815e-01 3.66970644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72028169299995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:286.16, Y:115.18, Z:3.67 [[ 7.05471727e-01 -7.08689363e-01 -8.30841595e-03 2.86164774e+02] [ 7.08636249e-01 7.05520610e-01 -8.67960156e-03 1.15179957e+02] [ 1.20129000e-02 2.35568789e-04 9.99927815e-01 3.67246182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78028169299995 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:286.20, Y:115.22, Z:3.67 [[ 7.10337281e-01 -7.03812437e-01 -8.30664874e-03 2.86204098e+02] [ 7.03758967e-01 7.10385776e-01 -8.68129251e-03 1.15221300e+02] [ 1.20109268e-02 3.20767179e-04 9.99927815e-01 3.67236041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84028169299995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:286.24, Y:115.26, Z:3.67 [[ 7.16123699e-01 -6.97923976e-01 -8.30489842e-03 2.86242043e+02] [ 6.97870089e-01 7.16171729e-01 -8.68296662e-03 1.15264390e+02] [ 1.20077840e-02 4.22337978e-04 9.99927815e-01 3.66984862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90028169299995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:286.28, Y:115.31, Z:3.67 [[ 7.18472263e-01 -6.95506049e-01 -8.30316262e-03 2.86278619e+02] [ 6.95451981e-01 7.18520089e-01 -8.68462618e-03 1.15309314e+02] [ 1.20061992e-02 4.65212131e-04 9.99927815e-01 3.66885066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96028169299996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:286.31, Y:115.36, Z:3.67 [[ 7.20152567e-01 -6.93766073e-01 -8.30160035e-03 2.86313722e+02] [ 6.93711872e-01 7.20200243e-01 -8.68611929e-03 1.15356583e+02] [ 1.20049495e-02 4.96412381e-04 9.99927815e-01 3.67041904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02028169299996 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:286.34, Y:115.41, Z:3.67 [[ 7.19286590e-01 -6.94663883e-01 -8.30005507e-03 2.86344962e+02] [ 6.94609725e-01 7.19334314e-01 -8.68759563e-03 1.15405977e+02] [ 1.20054733e-02 4.83572067e-04 9.99927815e-01 3.67031252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08028169299996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:286.38, Y:115.45, Z:3.67 [[ 7.17926711e-01 -6.96069224e-01 -8.29893216e-03 2.86382432e+02] [ 6.96015147e-01 7.17974528e-01 -8.68866818e-03 1.15451016e+02] [ 1.20063364e-02 4.61644489e-04 9.99927815e-01 3.66853337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14028169299996 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:286.41, Y:115.50, Z:3.67 [[ 7.12131992e-01 -7.01996567e-01 -8.29733601e-03 2.86414884e+02] [ 7.01942870e-01 7.12180235e-01 -8.69019217e-03 1.15499994e+02] [ 1.20096838e-02 3.64308003e-04 9.99927815e-01 3.66775601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20028169299997 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:286.45, Y:115.55, Z:3.67 [[ 7.06343063e-01 -7.07821064e-01 -8.29570260e-03 2.86449727e+02] [ 7.07767747e-01 7.06391726e-01 -8.69175115e-03 1.15545797e+02] [ 1.20122202e-02 2.67927398e-04 9.99927815e-01 3.67268581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26028169299997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:286.49, Y:115.59, Z:3.68 [[ 6.98477925e-01 -7.15583537e-01 -8.29397789e-03 2.86487436e+02] [ 7.15530742e-01 6.98527153e-01 -8.69339662e-03 1.15590116e+02] [ 1.20144203e-02 1.37549482e-04 9.99927815e-01 3.67546553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32028169299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:286.53, Y:115.63, Z:3.67 [[ 6.93997192e-01 -7.19929951e-01 -8.29236985e-03 2.86525549e+02] [ 7.19877445e-01 6.94046729e-01 -8.69493021e-03 1.15632006e+02] [ 1.20150328e-02 6.47671257e-05 9.99927815e-01 3.67487658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.380281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:286.57, Y:115.67, Z:3.67 [[ 6.92192780e-01 -7.21665027e-01 -8.29119792e-03 2.86565996e+02] [ 7.21612633e-01 6.92242434e-01 -8.69604758e-03 1.15673039e+02] [ 1.20151524e-02 3.63081909e-05 9.99927815e-01 3.67439909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.440281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:286.61, Y:115.71, Z:3.67 [[ 6.91998147e-01 -7.21851679e-01 -8.28960878e-03 2.86606618e+02] [ 7.21799280e-01 6.92047796e-01 -8.69756218e-03 1.15711913e+02] [ 1.20151554e-02 3.52632680e-05 9.99927815e-01 3.67265642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.500281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:286.65, Y:115.75, Z:3.68 [[ 6.92287585e-01 -7.21574121e-01 -8.28774398e-03 2.86646000e+02] [ 7.21521681e-01 6.92337191e-01 -8.69933876e-03 1.15752979e+02] [ 1.20151311e-02 4.26572560e-05 9.99927815e-01 3.67633578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.560281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:286.69, Y:115.79, Z:3.67 [[ 6.93244461e-01 -7.20654882e-01 -8.28599542e-03 2.86685639e+02] [ 7.20602356e-01 6.93293976e-01 -8.70100392e-03 1.15792612e+02] [ 1.20150517e-02 6.10149562e-05 9.99927815e-01 3.67213844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.620281693 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:286.73, Y:115.83, Z:3.67 [[ 6.94197881e-01 -7.19736531e-01 -8.28416863e-03 2.86726537e+02] [ 7.19683919e-01 6.94247304e-01 -8.70274284e-03 1.15832510e+02] [ 1.20149437e-02 7.94426927e-05 9.99927815e-01 3.67108561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.680281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:286.77, Y:115.87, Z:3.67 [[ 6.96714137e-01 -7.17301061e-01 -8.28245305e-03 2.86765882e+02] [ 7.17248257e-01 6.96763354e-01 -8.70437527e-03 1.15872003e+02] [ 1.20145674e-02 1.23886291e-04 9.99927815e-01 3.67498694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.740281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:286.80, Y:115.92, Z:3.68 [[ 6.98868035e-01 -7.15202693e-01 -8.28113052e-03 2.86801865e+02] [ 7.15149726e-01 6.98917078e-01 -8.70563330e-03 1.15916899e+02] [ 1.20141159e-02 1.61840622e-04 9.99927815e-01 3.67569652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.800281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:286.84, Y:115.96, Z:3.68 [[ 6.99254664e-01 -7.14824709e-01 -8.27943536e-03 2.86839095e+02] [ 7.14771697e-01 6.99303658e-01 -8.70724518e-03 1.15959965e+02] [ 1.20139934e-02 1.70675744e-04 9.99927815e-01 3.67577320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.860281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.87, Y:116.00, Z:3.68 [[ 6.96839952e-01 -7.17178890e-01 -8.27775624e-03 2.86874628e+02] [ 7.17126024e-01 6.96889103e-01 -8.70884118e-03 1.16003818e+02] [ 1.20144752e-02 1.32474043e-04 9.99927815e-01 3.67946863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.920281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:286.91, Y:116.05, Z:3.68 [[ 6.93066279e-01 -7.20826360e-01 -8.27599844e-03 2.86911756e+02] [ 7.20773732e-01 6.93115686e-01 -8.71051130e-03 1.16047064e+02] [ 1.20149905e-02 7.18393704e-05 9.99927815e-01 3.68190323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98028169299994 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:286.95, Y:116.09, Z:3.68 [[ 6.91450479e-01 -7.22376474e-01 -8.27435237e-03 2.86949677e+02] [ 7.22323939e-01 6.91499983e-01 -8.71207466e-03 1.16090192e+02] [ 1.20151123e-02 4.72053939e-05 9.99927815e-01 3.67835198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04028169299994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:286.99, Y:116.13, Z:3.68 [[ 6.91161834e-01 -7.22652670e-01 -8.27271651e-03 2.86987892e+02] [ 7.22600136e-01 6.91211340e-01 -8.71362775e-03 1.16131989e+02] [ 1.20151218e-02 4.46608589e-05 9.99927815e-01 3.68185487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10028169299994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:287.03, Y:116.17, Z:3.68 [[ 6.87539638e-01 -7.26099742e-01 -8.27107905e-03 2.87029948e+02] [ 7.26047437e-01 6.87589387e-01 -8.71518177e-03 1.16172141e+02] [ 1.20151974e-02 -1.31628252e-05 9.99927815e-01 3.68169363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16028169299994 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:287.07, Y:116.21, Z:3.68 [[ 6.84630418e-01 -7.28843473e-01 -8.26941224e-03 2.87071166e+02] [ 7.28791348e-01 6.84680355e-01 -8.71676303e-03 1.16212339e+02] [ 1.20150600e-02 -5.89149802e-05 9.99927815e-01 3.68092693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22028169299995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:287.11, Y:116.25, Z:3.68 [[ 6.81132547e-01 -7.32113446e-01 -8.26775477e-03 2.87112805e+02] [ 7.32061542e-01 6.81182714e-01 -8.71833484e-03 1.16253064e+02] [ 1.20146618e-02 -1.14163694e-04 9.99927815e-01 3.67936739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28028169299995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:287.15, Y:116.29, Z:3.68 [[ 6.80028190e-01 -7.33139367e-01 -8.26611754e-03 2.87153010e+02] [ 7.33087520e-01 6.80078415e-01 -8.71988687e-03 1.16292819e+02] [ 1.20145005e-02 -1.30018727e-04 9.99927815e-01 3.68060919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34028169299995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:287.19, Y:116.33, Z:3.68 [[ 6.81257002e-01 -7.31997669e-01 -8.26492693e-03 2.87193802e+02] [ 7.31945724e-01 6.81307127e-01 -8.72101522e-03 1.16333466e+02] [ 1.20147164e-02 -1.08225236e-04 9.99927815e-01 3.68108591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:287.24, Y:116.37, Z:3.68 [[ 6.82338111e-01 -7.30990028e-01 -8.26325929e-03 2.87235924e+02] [ 7.30937990e-01 6.82388138e-01 -8.72259504e-03 1.16372256e+02] [ 1.20148801e-02 -8.81711135e-05 9.99927815e-01 3.68257459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46028169299996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:287.28, Y:116.41, Z:3.68 [[ 6.83191831e-01 -7.30192214e-01 -8.26149642e-03 2.87276345e+02] [ 7.30140097e-01 6.83241777e-01 -8.72426440e-03 1.16411199e+02] [ 1.20149894e-02 -7.17036317e-05 9.99927815e-01 3.68233900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:287.32, Y:116.45, Z:3.69 [[ 6.86560132e-01 -7.27026109e-01 -8.25961780e-03 2.87319563e+02] [ 7.26973741e-01 6.86609814e-01 -8.72604260e-03 1.16449671e+02] [ 1.20151954e-02 -1.35722831e-05 9.99927815e-01 3.68580693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:287.36, Y:116.49, Z:3.69 [[ 6.90183694e-01 -7.23587089e-01 -8.25795404e-03 2.87361355e+02] [ 7.23534454e-01 6.90233093e-01 -8.72761684e-03 1.16487973e+02] [ 1.20151040e-02 4.87445654e-05 9.99927815e-01 3.68953717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64028169299996 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:287.40, Y:116.53, Z:3.69 [[ 6.91771370e-01 -7.22069392e-01 -8.25619624e-03 2.87402471e+02] [ 7.22016629e-01 6.91820632e-01 -8.72927937e-03 1.16528461e+02] [ 1.20149523e-02 7.75545744e-05 9.99927815e-01 3.69220769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70028169299997 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:287.44, Y:116.57, Z:3.69 [[ 6.92148475e-01 -7.21707940e-01 -8.25454362e-03 2.87441755e+02] [ 7.21655133e-01 6.92197690e-01 -8.73084183e-03 1.16571635e+02] [ 1.20148939e-02 8.61050928e-05 9.99927815e-01 3.69267452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76028169299997 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:287.48, Y:116.61, Z:3.69 [[ 6.91376928e-01 -7.22447115e-01 -8.25284405e-03 2.87479282e+02] [ 7.22394341e-01 6.91426179e-01 -8.73244806e-03 1.16614129e+02] [ 1.20149643e-02 7.56052790e-05 9.99927815e-01 3.69483136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82028169299997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:287.52, Y:116.66, Z:3.69 [[ 6.91211575e-01 -7.22605341e-01 -8.25104955e-03 2.87515298e+02] [ 7.22552558e-01 6.91260816e-01 -8.73414331e-03 1.16658709e+02] [ 1.20149658e-02 7.53239928e-05 9.99927815e-01 3.69118741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.880281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:287.55, Y:116.71, Z:3.69 [[ 6.92766839e-01 -7.21114454e-01 -8.24929422e-03 2.87550319e+02] [ 7.21061545e-01 6.92815945e-01 -8.73580088e-03 1.16705798e+02] [ 1.20147548e-02 1.03624324e-04 9.99927815e-01 3.69019227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.940281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:287.58, Y:116.75, Z:3.69 [[ 6.93666490e-01 -7.20249107e-01 -8.24765838e-03 2.87583972e+02] [ 7.20196119e-01 6.93715510e-01 -8.73734504e-03 1.16752847e+02] [ 1.20145935e-02 1.20871908e-04 9.99927815e-01 3.68999049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.000281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:287.62, Y:116.80, Z:3.69 [[ 6.93775013e-01 -7.20144588e-01 -8.24646538e-03 2.87621719e+02] [ 7.20091579e-01 6.93824010e-01 -8.73847087e-03 1.16796300e+02] [ 1.20145582e-02 1.24322462e-04 9.99927815e-01 3.68890328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.060281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:287.65, Y:116.84, Z:3.69 [[ 6.94308133e-01 -7.19630627e-01 -8.24481591e-03 2.87653623e+02] [ 7.19577564e-01 6.94357071e-01 -8.74002688e-03 1.16844472e+02] [ 1.20144372e-02 1.35487202e-04 9.99927815e-01 3.68795903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.120281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:287.69, Y:116.89, Z:3.69 [[ 6.93953346e-01 -7.19972781e-01 -8.24307542e-03 2.87686894e+02] [ 7.19919722e-01 6.94002289e-01 -8.74166810e-03 1.16892501e+02] [ 1.20144763e-02 1.31957267e-04 9.99927815e-01 3.68948809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.180281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:287.72, Y:116.94, Z:3.69 [[ 6.93753014e-01 -7.20165838e-01 -8.24148211e-03 2.87722676e+02] [ 7.20112775e-01 6.93801952e-01 -8.74316998e-03 1.16937923e+02] [ 1.20144887e-02 1.30803966e-04 9.99927815e-01 3.69152505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.240281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:287.76, Y:116.98, Z:3.69 [[ 6.92167908e-01 -7.21689471e-01 -8.23984316e-03 2.87761530e+02] [ 7.21636497e-01 6.92216943e-01 -8.74471431e-03 1.16979096e+02] [ 1.20147273e-02 1.06639051e-04 9.99927815e-01 3.69476173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.300281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:287.80, Y:117.02, Z:3.70 [[ 6.88976596e-01 -7.24736762e-01 -8.23865019e-03 2.87802757e+02] [ 7.24683992e-01 6.89025850e-01 -8.74583809e-03 1.17020026e+02] [ 1.20150733e-02 5.52598508e-05 9.99927815e-01 3.69654310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.360281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:287.84, Y:117.06, Z:3.70 [[ 6.89971509e-01 -7.23789659e-01 -8.23694986e-03 2.87844867e+02] [ 7.23736801e-01 6.90020670e-01 -8.74743919e-03 1.17059184e+02] [ 1.20149717e-02 7.41000691e-05 9.99927815e-01 3.69833690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.420281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:287.89, Y:117.10, Z:3.69 [[ 6.94770871e-01 -7.19183994e-01 -8.23525651e-03 2.87885141e+02] [ 7.19130793e-01 6.94819658e-01 -8.74903311e-03 1.17100860e+02] [ 1.20141827e-02 1.56346809e-04 9.99927815e-01 3.69411316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48028169299994 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:287.92, Y:117.14, Z:3.69 [[ 7.00190684e-01 -7.13908408e-01 -8.23357432e-03 2.87924854e+02] [ 7.13854820e-01 7.00239047e-01 -8.75061590e-03 1.17142395e+02] [ 1.20126085e-02 2.49523023e-04 9.99927815e-01 3.69318433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54028169299994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:287.96, Y:117.18, Z:3.70 [[ 7.01074656e-01 -7.13040360e-01 -8.23236600e-03 2.87963706e+02] [ 7.12986699e-01 7.01122938e-01 -8.75175251e-03 1.17184845e+02] [ 1.20122534e-02 2.66064423e-04 9.99927815e-01 3.69927877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60028169299994 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:288.00, Y:117.23, Z:3.70 [[ 6.99378247e-01 -7.14704361e-01 -8.23070885e-03 2.88001923e+02] [ 7.14650796e-01 6.99426636e-01 -8.75331072e-03 1.17228898e+02] [ 1.20128063e-02 2.39792469e-04 9.99927815e-01 3.69845906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66028169299994 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:288.04, Y:117.27, Z:3.70 [[ 6.97102215e-01 -7.16924533e-01 -8.22896440e-03 2.88041129e+02] [ 7.16871103e-01 6.97150753e-01 -8.75495037e-03 1.17270565e+02] [ 1.20134674e-02 2.03988507e-04 9.99927815e-01 3.69626425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72028169299995 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:288.08, Y:117.31, Z:3.70 [[ 6.94289816e-01 -7.19648498e-01 -8.22746630e-03 2.88082392e+02] [ 7.19595242e-01 6.94338544e-01 -8.75635798e-03 1.17311426e+02] [ 1.20141468e-02 1.59004573e-04 9.99927815e-01 3.69859823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78028169299995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:288.12, Y:117.35, Z:3.70 [[ 6.89482714e-01 -7.24255426e-01 -8.22584466e-03 2.88124736e+02] [ 7.24202478e-01 6.89531777e-01 -8.75788111e-03 1.17350182e+02] [ 1.20149242e-02 8.12305529e-05 9.99927815e-01 3.70177462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84028169299995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:288.17, Y:117.39, Z:3.71 [[ 6.87083308e-01 -7.26532093e-01 -8.22466424e-03 2.88167144e+02] [ 7.26479294e-01 6.87132531e-01 -8.75898952e-03 1.17389772e+02] [ 1.20151213e-02 4.31072203e-05 9.99927815e-01 3.70537467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90028169299995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:288.21, Y:117.43, Z:3.70 [[ 6.85732799e-01 -7.27806918e-01 -8.22300722e-03 2.88210059e+02] [ 7.27754192e-01 6.85782100e-01 -8.76054486e-03 1.17429201e+02] [ 1.20151763e-02 2.30649770e-05 9.99927815e-01 3.70448416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96028169299996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:288.25, Y:117.47, Z:3.71 [[ 6.88311279e-01 -7.25368867e-01 -8.22133992e-03 2.88249138e+02] [ 7.25315947e-01 6.88360373e-01 -8.76210927e-03 1.17470091e+02] [ 1.20150059e-02 6.79896934e-05 9.99927815e-01 3.70503119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:288.29, Y:117.51, Z:3.70 [[ 6.90629346e-01 -7.23162185e-01 -8.21958719e-03 2.88288539e+02] [ 7.23109088e-01 6.90678248e-01 -8.76375317e-03 1.17513056e+02] [ 1.20147050e-02 1.08846916e-04 9.99927815e-01 3.70467582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08028169299996 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:288.32, Y:117.56, Z:3.70 [[ 6.91859849e-01 -7.21985051e-01 -8.21796418e-03 2.88323037e+02] [ 7.21931854e-01 6.91908642e-01 -8.76527483e-03 1.17558287e+02] [ 1.20144778e-02 1.31531608e-04 9.99927815e-01 3.70178698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14028169299996 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:288.36, Y:117.60, Z:3.70 [[ 6.90184921e-01 -7.23586393e-01 -8.21625879e-03 2.88359618e+02] [ 7.23533290e-01 6.90233816e-01 -8.76687311e-03 1.17604023e+02] [ 1.20147298e-02 1.06026868e-04 9.99927815e-01 3.69673839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20028169299997 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:288.39, Y:117.65, Z:3.70 [[ 6.86345418e-01 -7.27229322e-01 -8.21466067e-03 2.88393897e+02] [ 7.27176461e-01 6.86394574e-01 -8.76837032e-03 1.17649971e+02] [ 1.20151145e-02 4.46229208e-05 9.99927815e-01 3.69982987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26028169299997 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:288.43, Y:117.69, Z:3.71 [[ 6.79945538e-01 -7.33216622e-01 -8.21286920e-03 2.88432028e+02] [ 7.33164173e-01 6.79995134e-01 -8.77004797e-03 1.17694335e+02] [ 1.20150560e-02 -5.82264678e-05 9.99927815e-01 3.70795013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32028169299997 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:288.47, Y:117.74, Z:3.71 [[ 6.74280561e-01 -7.38429617e-01 -8.21129412e-03 2.88469908e+02] [ 7.38377534e-01 6.74330541e-01 -8.77152245e-03 1.17737659e+02] [ 1.20142784e-02 -1.48568018e-04 9.99927815e-01 3.70543093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.380281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:288.51, Y:117.78, Z:3.71 [[ 6.71620469e-01 -7.40849882e-01 -8.20967373e-03 2.88509212e+02] [ 7.40797960e-01 6.71670616e-01 -8.77303879e-03 1.17778672e+02] [ 1.20137014e-02 -1.89557121e-04 9.99927815e-01 3.70542948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.440281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:288.55, Y:117.82, Z:3.71 [[ 6.68515859e-01 -7.43652591e-01 -8.20796937e-03 2.88552794e+02] [ 7.43600859e-01 6.68566203e-01 -8.77463308e-03 1.17815735e+02] [ 1.20128495e-02 -2.37471707e-04 9.99927815e-01 3.71298831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.500281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:288.60, Y:117.85, Z:3.71 [[ 6.67151789e-01 -7.44876600e-01 -8.20617662e-03 2.88596748e+02] [ 7.44824940e-01 6.67202207e-01 -8.77630937e-03 1.17852281e+02] [ 1.20124466e-02 -2.57034517e-04 9.99927815e-01 3.71108555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.560281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:288.64, Y:117.89, Z:3.71 [[ 6.63905602e-01 -7.47771382e-01 -8.20441168e-03 2.88643276e+02] [ 7.47719922e-01 6.63956223e-01 -8.77795898e-03 1.17885972e+02] [ 1.20112767e-02 -3.06865919e-04 9.99927815e-01 3.71402753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.620281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:288.69, Y:117.92, Z:3.71 [[ 6.60850416e-01 -7.50472815e-01 -8.20256155e-03 2.88693549e+02] [ 7.50421540e-01 6.60901225e-01 -8.77968750e-03 1.17918542e+02] [ 1.20099998e-02 -3.53318736e-04 9.99927815e-01 3.70922654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.680281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:288.74, Y:117.95, Z:3.71 [[ 6.60720008e-01 -7.50587647e-01 -8.20093417e-03 2.88739336e+02] [ 7.50536362e-01 6.60770807e-01 -8.78120734e-03 1.17952847e+02] [ 1.20100036e-02 -3.53179913e-04 9.99927815e-01 3.70951229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.740281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:288.79, Y:117.98, Z:3.71 [[ 6.64127013e-01 -7.47574803e-01 -8.19902446e-03 2.88788505e+02] [ 7.47523266e-01 6.64177556e-01 -8.78299008e-03 1.17983239e+02] [ 1.20115501e-02 -2.95940573e-04 9.99927815e-01 3.71309778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.800281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:288.84, Y:118.02, Z:3.71 [[ 6.71094658e-01 -7.41326350e-01 -8.19770314e-03 2.88837071e+02] [ 7.41274327e-01 6.71144701e-01 -8.78422317e-03 1.18016319e+02] [ 1.20138211e-02 -1.81701628e-04 9.99927815e-01 3.71134419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.860281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:288.88, Y:118.05, Z:3.72 [[ 6.79893400e-01 -7.33265157e-01 -8.19601609e-03 2.88882777e+02] [ 7.33212521e-01 6.79942798e-01 -8.78579697e-03 1.18050527e+02] [ 1.20151409e-02 -3.60162524e-05 9.99927815e-01 3.71500011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:288.92, Y:118.09, Z:3.72 [[ 6.82013981e-01 -7.31293227e-01 -8.19424820e-03 2.88922269e+02] [ 7.31240429e-01 6.82063205e-01 -8.78744552e-03 1.18090292e+02] [ 1.20151946e-02 1.19512791e-06 9.99927815e-01 3.71612564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98028169299994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:288.97, Y:118.13, Z:3.72 [[ 6.86966452e-01 -7.26642951e-01 -8.19238246e-03 2.88965087e+02] [ 7.26589799e-01 6.87015294e-01 -8.78918458e-03 1.18126785e+02] [ 1.20148911e-02 8.53734285e-05 9.99927815e-01 3.71874398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:289.00, Y:118.17, Z:3.72 [[ 6.89471523e-01 -7.24266480e-01 -8.19052899e-03 2.89004105e+02] [ 7.24213139e-01 6.89520158e-01 -8.79091146e-03 1.18167629e+02] [ 1.20144973e-02 1.29394398e-04 9.99927815e-01 3.71740414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:289.04, Y:118.21, Z:3.72 [[ 6.92400517e-01 -7.21466888e-01 -8.18868525e-03 2.89044431e+02] [ 7.21413330e-01 6.92448913e-01 -8.79262856e-03 1.18209276e+02] [ 1.20138366e-02 1.80593873e-04 9.99927815e-01 3.72001485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16028169299994 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:289.08, Y:118.25, Z:3.72 [[ 6.93733640e-01 -7.20185122e-01 -8.18701252e-03 2.89083031e+02] [ 7.20131456e-01 6.93781917e-01 -8.79418580e-03 1.18251856e+02] [ 1.20134430e-02 2.05097271e-04 9.99927815e-01 3.71910992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22028169299995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:289.12, Y:118.29, Z:3.72 [[ 6.91335322e-01 -7.22487692e-01 -8.18580350e-03 2.89124834e+02] [ 7.22434174e-01 6.91383762e-01 -8.79531103e-03 1.18291710e+02] [ 1.20140356e-02 1.66804994e-04 9.99927815e-01 3.71881784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28028169299995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:289.17, Y:118.33, Z:3.72 [[ 6.89997908e-01 -7.23765091e-01 -8.18413135e-03 2.89165571e+02] [ 7.23711644e-01 6.90046427e-01 -8.79686672e-03 1.18332443e+02] [ 1.20142956e-02 1.46868471e-04 9.99927815e-01 3.71875485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34028169299995 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:289.20, Y:118.37, Z:3.72 [[ 6.92317824e-01 -7.21546312e-01 -8.18227047e-03 2.89202766e+02] [ 7.21492689e-01 6.92366149e-01 -8.79859724e-03 1.18374758e+02] [ 1.20137225e-02 1.87977370e-04 9.99927815e-01 3.71955918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:289.24, Y:118.42, Z:3.72 [[ 6.94868776e-01 -7.19090027e-01 -8.18032603e-03 2.89237933e+02] [ 7.19036212e-01 6.94916887e-01 -8.80040468e-03 1.18418503e+02] [ 1.20129299e-02 2.33175792e-04 9.99927815e-01 3.72169825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46028169299996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:289.27, Y:118.46, Z:3.72 [[ 6.96070318e-01 -7.17927033e-01 -8.17851746e-03 2.89274046e+02] [ 7.17873118e-01 6.96118316e-01 -8.80208512e-03 1.18463717e+02] [ 1.20124707e-02 2.55732363e-04 9.99927815e-01 3.72430603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52028169299996 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:289.31, Y:118.51, Z:3.72 [[ 6.93939185e-01 -7.19987185e-01 -8.17687628e-03 2.89307491e+02] [ 7.19933395e-01 6.93987322e-01 -8.80360947e-03 1.18509178e+02] [ 1.20131345e-02 2.22363279e-04 9.99927815e-01 3.72385016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:289.34, Y:118.55, Z:3.73 [[ 6.90159107e-01 -7.23611482e-01 -8.17494547e-03 2.89343457e+02] [ 7.23557923e-01 6.90207502e-01 -8.80540203e-03 1.18554245e+02] [ 1.20140987e-02 1.62081833e-04 9.99927815e-01 3.72723625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.38, Y:118.60, Z:3.73 [[ 6.84232209e-01 -7.29218406e-01 -8.17312624e-03 2.89383620e+02] [ 7.29165224e-01 6.84281018e-01 -8.80709030e-03 1.18595166e+02] [ 1.20150075e-02 6.65354325e-05 9.99927815e-01 3.72676728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70028169299997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:289.42, Y:118.63, Z:3.73 [[ 6.81274622e-01 -7.31982322e-01 -8.17130539e-03 2.89424350e+02] [ 7.31929317e-01 6.81323624e-01 -8.80877939e-03 1.18634003e+02] [ 1.20151742e-02 2.03798799e-05 9.99927815e-01 3.72607377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76028169299997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:289.46, Y:118.67, Z:3.73 [[ 6.81495071e-01 -7.31777104e-01 -8.16939934e-03 2.89463951e+02] [ 7.31724063e-01 6.81544034e-01 -8.81054673e-03 1.18674703e+02] [ 1.20151617e-02 2.65980911e-05 9.99927815e-01 3.72722894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.50, Y:118.72, Z:3.73 [[ 6.87599740e-01 -7.26043999e-01 -8.16762297e-03 2.89500295e+02] [ 7.25990530e-01 6.87648235e-01 -8.81219317e-03 1.18718964e+02] [ 1.20144915e-02 1.29644796e-04 9.99927815e-01 3.73193075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.880281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:289.53, Y:118.77, Z:3.73 [[ 6.94762461e-01 -7.19192911e-01 -8.16581691e-03 2.89534009e+02] [ 7.19138944e-01 6.94810402e-01 -8.81386644e-03 1.18767191e+02] [ 1.20125648e-02 2.51186588e-04 9.99927815e-01 3.73171655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.940281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:289.57, Y:118.81, Z:3.73 [[ 6.96834668e-01 -7.17185326e-01 -8.16413918e-03 2.89566140e+02] [ 7.17131204e-01 6.96882433e-01 -8.81542022e-03 1.18814648e+02] [ 1.20117352e-02 2.88131466e-04 9.99927815e-01 3.73114976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.000281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:289.60, Y:118.86, Z:3.73 [[ 6.95752395e-01 -7.18235317e-01 -8.16292405e-03 2.89599722e+02] [ 7.18181254e-01 6.95800227e-01 -8.81654526e-03 1.18862695e+02] [ 1.20121186e-02 2.71673459e-04 9.99927815e-01 3.73400088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.060281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:289.63, Y:118.91, Z:3.74 [[ 6.93301820e-01 -7.20601124e-01 -8.16130416e-03 2.89632009e+02] [ 7.20547206e-01 6.93349815e-01 -8.81804451e-03 1.18912283e+02] [ 1.20129315e-02 2.32961400e-04 9.99927815e-01 3.73780557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.120281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:289.67, Y:118.96, Z:3.73 [[ 6.88731018e-01 -7.24971037e-01 -8.15968929e-03 2.89666493e+02] [ 7.24917406e-01 6.88779333e-01 -8.81953856e-03 1.18958821e+02] [ 1.20141354e-02 1.59188975e-04 9.99927815e-01 3.73468140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.180281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.71, Y:119.00, Z:3.74 [[ 6.80402219e-01 -7.32793470e-01 -8.15788424e-03 2.89707241e+02] [ 7.32740375e-01 6.80451122e-01 -8.82120788e-03 1.18999472e+02] [ 1.20151650e-02 2.43582603e-05 9.99927815e-01 3.73758421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.240281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.75, Y:119.04, Z:3.74 [[ 6.75794514e-01 -7.37044947e-01 -8.15608851e-03 2.89748271e+02] [ 7.36992139e-01 6.75843728e-01 -8.82286789e-03 1.19039551e+02] [ 1.20150915e-02 -4.85273998e-05 9.99927815e-01 3.73775226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.300281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:289.79, Y:119.08, Z:3.74 [[ 6.75271174e-01 -7.37524474e-01 -8.15423545e-03 2.89789402e+02] [ 7.37471680e-01 6.75320404e-01 -8.82458019e-03 1.19078132e+02] [ 1.20150654e-02 -5.45330850e-05 9.99927815e-01 3.73933695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.360281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:289.83, Y:119.12, Z:3.73 [[ 6.80184412e-01 -7.32995707e-01 -8.15230380e-03 2.89828203e+02] [ 7.32942564e-01 6.80233264e-01 -8.82636433e-03 1.19119507e+02] [ 1.20151554e-02 2.83849821e-05 9.99927815e-01 3.73477550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:289.87, Y:119.16, Z:3.74 [[ 6.81794451e-01 -7.31498391e-01 -8.15052028e-03 2.89868120e+02] [ 7.31445121e-01 6.81843164e-01 -8.82801097e-03 1.19160981e+02] [ 1.20150524e-02 5.72305903e-05 9.99927815e-01 3.74238233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48028169299994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:289.91, Y:119.20, Z:3.74 [[ 6.82106219e-01 -7.31207701e-01 -8.14892263e-03 2.89907177e+02] [ 7.31154393e-01 6.82154890e-01 -8.82948548e-03 1.19202239e+02] [ 1.20150152e-02 6.45263774e-05 9.99927815e-01 3.74095734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.95, Y:119.24, Z:3.74 [[ 6.82342868e-01 -7.30986891e-01 -8.14713848e-03 2.89945862e+02] [ 7.30933547e-01 6.82391501e-01 -8.83113143e-03 1.19244129e+02] [ 1.20149794e-02 7.08427218e-05 9.99927815e-01 3.74094319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60028169299994 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:289.99, Y:119.29, Z:3.74 [[ 6.82096571e-01 -7.31216741e-01 -8.14533137e-03 2.89985237e+02] [ 7.31163394e-01 6.82145200e-01 -8.83279790e-03 1.19285331e+02] [ 1.20149884e-02 6.92530262e-05 9.99927815e-01 3.74249678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.03, Y:119.33, Z:3.74 [[ 6.80146776e-01 -7.33030726e-01 -8.14353794e-03 2.90025831e+02] [ 7.32977489e-01 6.80195525e-01 -8.83445107e-03 1.19325598e+02] [ 1.20151222e-02 3.96934213e-05 9.99927815e-01 3.74442801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72028169299995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:290.07, Y:119.36, Z:3.74 [[ 6.77635303e-01 -7.35353050e-01 -8.14173172e-03 2.90068983e+02] [ 7.35299960e-01 6.77684212e-01 -8.83611535e-03 1.19364177e+02] [ 1.20151874e-02 1.04869513e-06 9.99927815e-01 3.74294601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78028169299995 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:290.11, Y:119.41, Z:3.74 [[ 6.77117618e-01 -7.35829785e-01 -8.13999390e-03 2.90107929e+02] [ 7.35776710e-01 6.77166544e-01 -8.83771597e-03 1.19405221e+02] [ 1.20151862e-02 -5.04474057e-06 9.99927815e-01 3.74112519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84028169299995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:290.15, Y:119.45, Z:3.74 [[ 6.78080251e-01 -7.34942817e-01 -8.13817540e-03 2.90148352e+02] [ 7.34889658e-01 6.78129085e-01 -8.83939022e-03 1.19445325e+02] [ 1.20151798e-02 1.31550023e-05 9.99927815e-01 3.74278428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:290.19, Y:119.49, Z:3.75 [[ 6.81901232e-01 -7.31399009e-01 -8.13636314e-03 2.90187269e+02] [ 7.31345576e-01 6.81949767e-01 -8.84105802e-03 1.19488333e+02] [ 1.20149320e-02 7.82351728e-05 9.99927815e-01 3.74804960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96028169299996 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:290.23, Y:119.53, Z:3.74 [[ 6.83007760e-01 -7.30365817e-01 -8.13468757e-03 2.90225327e+02] [ 7.30312292e-01 6.83056194e-01 -8.84259945e-03 1.19530024e+02] [ 1.20147811e-02 9.87017183e-05 9.99927815e-01 3.74287533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02028169299996 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:290.27, Y:119.57, Z:3.74 [[ 6.82054714e-01 -7.31255924e-01 -8.13271625e-03 2.90265532e+02] [ 7.31202441e-01 6.82103194e-01 -8.84441215e-03 1.19570323e+02] [ 1.20148805e-02 8.57110286e-05 9.99927815e-01 3.74306547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08028169299996 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:290.30, Y:119.62, Z:3.75 [[ 6.82360309e-01 -7.30970791e-01 -8.13093062e-03 2.90301785e+02] [ 7.30917268e-01 6.82408745e-01 -8.84605342e-03 1.19615475e+02] [ 1.20148248e-02 9.31581503e-05 9.99927815e-01 3.74907963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14028169299996 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:290.34, Y:119.66, Z:3.75 [[ 6.85173954e-01 -7.28334105e-01 -8.12922321e-03 2.90336999e+02] [ 7.28280377e-01 6.85222162e-01 -8.84762220e-03 1.19661884e+02] [ 1.20143489e-02 1.41806544e-04 9.99927815e-01 3.74962788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20028169299997 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:290.37, Y:119.71, Z:3.75 [[ 6.84185116e-01 -7.29263101e-01 -8.12750570e-03 2.90372116e+02] [ 7.29209420e-01 6.84233376e-01 -8.84919963e-03 1.19706346e+02] [ 1.20145054e-02 1.27836954e-04 9.99927815e-01 3.75169620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26028169299997 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:290.41, Y:119.75, Z:3.75 [[ 6.80089544e-01 -7.33084023e-01 -8.12570480e-03 2.90411405e+02] [ 7.33030594e-01 6.80138083e-01 -8.85085299e-03 1.19749127e+02] [ 1.20150202e-02 6.29823614e-05 9.99927815e-01 3.75132131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32028169299997 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:290.45, Y:119.79, Z:3.75 [[ 6.72579122e-01 -7.39980624e-01 -8.12402861e-03 2.90450807e+02] [ 7.39927674e-01 6.72628183e-01 -8.85239126e-03 1.19789246e+02] [ 1.20150486e-02 -5.72600536e-05 9.99927815e-01 3.75354193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.380281693 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:290.49, Y:119.83, Z:3.75 [[ 6.67071047e-01 -7.44949831e-01 -8.12206145e-03 2.90493027e+02] [ 7.44897224e-01 6.67120476e-01 -8.85419576e-03 1.19827506e+02] [ 1.20143251e-02 -1.43723381e-04 9.99927815e-01 3.75175523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.440281693 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:290.54, Y:119.86, Z:3.75 [[ 6.65231474e-01 -7.46593027e-01 -8.12019282e-03 2.90535434e+02] [ 7.46540521e-01 6.65281010e-01 -8.85590915e-03 1.19864148e+02] [ 1.20139701e-02 -1.70823478e-04 9.99927815e-01 3.75199470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.500281693 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:290.58, Y:119.90, Z:3.75 [[ 6.65891421e-01 -7.46004492e-01 -8.11875806e-03 2.90576219e+02] [ 7.45951926e-01 6.65940893e-01 -8.85722429e-03 1.19903962e+02] [ 1.20141421e-02 -1.58253555e-04 9.99927815e-01 3.75465712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.560281693 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:290.61, Y:119.95, Z:3.75 [[ 6.72068818e-01 -7.40444204e-01 -8.11693294e-03 2.90613941e+02] [ 7.40391209e-01 6.72117830e-01 -8.85889655e-03 1.19945540e+02] [ 1.20150540e-02 -5.59176553e-05 9.99927815e-01 3.75293703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.620281693 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:290.65, Y:119.99, Z:3.75 [[ 6.75518855e-01 -7.37298050e-01 -8.11552630e-03 2.90650600e+02] [ 7.37244811e-01 6.75567603e-01 -8.86018497e-03 1.19987889e+02] [ 1.20151837e-02 2.09235350e-06 9.99927815e-01 3.75238436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.680281693 meters Centerline goodness : 0.999151 with order 1 Centerline is valid? [True, True] Translation: X:290.69, Y:120.03, Z:3.76 [[ 6.77850439e-01 -7.35155052e-01 -8.11364514e-03 2.90687983e+02] [ 7.35101639e-01 6.77898995e-01 -8.86190729e-03 1.20030870e+02] [ 1.20151078e-02 4.26939101e-05 9.99927815e-01 3.75969460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.740281693 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:290.72, Y:120.07, Z:3.76 [[ 6.79063717e-01 -7.34034514e-01 -8.11175594e-03 2.90724381e+02] [ 7.33981000e-01 6.79112162e-01 -8.86363624e-03 1.20073565e+02] [ 1.20150070e-02 6.50990347e-05 9.99927815e-01 3.76012582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.800281693 meters Centerline goodness : 0.998861 with order 1 Centerline is valid? [True, True] Translation: X:290.76, Y:120.12, Z:3.76 [[ 6.79821754e-01 -7.33332534e-01 -8.11029802e-03 2.90761723e+02] [ 7.33278954e-01 6.79870126e-01 -8.86497004e-03 1.20116795e+02] [ 1.20149203e-02 7.94886295e-05 9.99927815e-01 3.76091468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.860281693 meters Centerline goodness : 0.998840 with order 1 Centerline is valid? [True, True] Translation: X:290.80, Y:120.16, Z:3.76 [[ 6.79839837e-01 -7.33315791e-01 -8.10841532e-03 2.90795591e+02] [ 7.33262189e-01 6.79888184e-01 -8.86669174e-03 1.20161877e+02] [ 1.20149008e-02 8.23358934e-05 9.99927815e-01 3.75891367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92028169299994 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:290.83, Y:120.20, Z:3.76 [[ 6.76680712e-01 -7.36231961e-01 -8.10644709e-03 2.90832630e+02] [ 7.36178546e-01 6.76729266e-01 -8.86849084e-03 1.20204346e+02] [ 1.20151364e-02 3.33442663e-05 9.99927815e-01 3.76068929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98028169299994 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:290.87, Y:120.25, Z:3.76 [[ 6.72624563e-01 -7.39939534e-01 -8.10454106e-03 2.90870694e+02] [ 7.39886365e-01 6.72673387e-01 -8.87023234e-03 1.20247328e+02] [ 1.20151447e-02 -3.01032715e-05 9.99927815e-01 3.75639732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04028169299994 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:290.91, Y:120.29, Z:3.76 [[ 6.69677558e-01 -7.42607780e-01 -8.10274437e-03 2.90910709e+02] [ 7.42554786e-01 6.69726571e-01 -8.87187327e-03 1.20288688e+02] [ 1.20149453e-02 -7.54371867e-05 9.99927815e-01 3.75536476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10028169299994 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:290.95, Y:120.33, Z:3.76 [[ 6.69767432e-01 -7.42526741e-01 -8.10092228e-03 2.90951814e+02] [ 7.42473721e-01 6.69816418e-01 -8.87353671e-03 1.20326802e+02] [ 1.20149690e-02 -7.15160139e-05 9.99927815e-01 3.75872816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16028169299994 meters Centerline goodness : 0.998851 with order 1 Centerline is valid? [True, True] Translation: X:290.99, Y:120.37, Z:3.76 [[ 6.71060544e-01 -7.41358315e-01 -8.09902730e-03 2.90990223e+02] [ 7.41305189e-01 6.71109414e-01 -8.87526596e-03 1.20369695e+02] [ 1.20150857e-02 -4.80101562e-05 9.99927815e-01 3.75886797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22028169299995 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:291.03, Y:120.41, Z:3.76 [[ 6.72015318e-01 -7.40492975e-01 -8.09733578e-03 2.91028830e+02] [ 7.40439767e-01 6.72064099e-01 -8.87680894e-03 1.20412285e+02] [ 1.20151433e-02 -3.02378390e-05 9.99927815e-01 3.76052415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28028169299995 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:291.07, Y:120.45, Z:3.76 [[ 6.71787665e-01 -7.40699532e-01 -8.09544716e-03 2.91068258e+02] [ 7.40646319e-01 6.71836440e-01 -8.87853099e-03 1.20452348e+02] [ 1.20151401e-02 -3.13755333e-05 9.99927815e-01 3.76388061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34028169299995 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:291.11, Y:120.49, Z:3.76 [[ 6.72070184e-01 -7.40443221e-01 -8.09346888e-03 2.91108694e+02] [ 7.40389967e-01 6.72118915e-01 -8.88033397e-03 1.20492515e+02] [ 1.20151566e-02 -2.41154671e-05 9.99927815e-01 3.76208540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40028169299995 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:291.15, Y:120.53, Z:3.76 [[ 6.74322895e-01 -7.38392280e-01 -8.09161073e-03 2.91151277e+02] [ 7.38338857e-01 6.74371442e-01 -8.88202677e-03 1.20531344e+02] [ 1.20151712e-02 1.50033897e-05 9.99927815e-01 3.76202776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46028169299996 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:291.19, Y:120.57, Z:3.76 [[ 6.75487977e-01 -7.37326623e-01 -8.08976335e-03 2.91191378e+02] [ 7.37273104e-01 6.75536416e-01 -8.88370904e-03 1.20570576e+02] [ 1.20151249e-02 3.64737062e-05 9.99927815e-01 3.76186536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52028169299996 meters Centerline goodness : 0.998942 with order 1 Centerline is valid? [True, True] Translation: X:291.23, Y:120.61, Z:3.76 [[ 6.78872088e-01 -7.34212009e-01 -8.08783271e-03 2.91232342e+02] [ 7.34158247e-01 6.78920258e-01 -8.88546638e-03 1.20610973e+02] [ 1.20148096e-02 9.43460307e-05 9.99927815e-01 3.76226136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58028169299996 meters Centerline goodness : 0.998833 with order 1 Centerline is valid? [True, True] Translation: X:291.27, Y:120.66, Z:3.77 [[ 6.82277535e-01 -7.31048550e-01 -8.08601668e-03 2.91268384e+02] [ 7.30994545e-01 6.82325432e-01 -8.88711871e-03 1.20655665e+02] [ 1.20142101e-02 1.52647363e-04 9.99927815e-01 3.76579198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64028169299996 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:291.30, Y:120.70, Z:3.77 [[ 6.85353828e-01 -7.28165350e-01 -8.08419081e-03 2.91301809e+02] [ 7.28111124e-01 6.85401474e-01 -8.88877930e-03 1.20703137e+02] [ 1.20134174e-02 2.05769659e-04 9.99927815e-01 3.76536112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70028169299997 meters Centerline goodness : 0.998878 with order 1 Centerline is valid? [True, True] Translation: X:291.34, Y:120.75, Z:3.76 [[ 6.85953771e-01 -7.27600232e-01 -8.08249237e-03 2.91338487e+02] [ 7.27545949e-01 6.86001352e-01 -8.89032341e-03 1.20748545e+02] [ 1.20132021e-02 2.17966284e-04 9.99927815e-01 3.76448108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76028169299997 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:291.37, Y:120.80, Z:3.77 [[ 6.84417487e-01 -7.29045543e-01 -8.08080442e-03 2.91370524e+02] [ 7.28991342e-01 6.84465162e-01 -8.89185740e-03 1.20797835e+02] [ 1.20135981e-02 1.94906242e-04 9.99927815e-01 3.76617314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82028169299997 meters Centerline goodness : 0.998589 with order 1 Centerline is valid? [True, True] Translation: X:291.40, Y:120.84, Z:3.77 [[ 6.78287668e-01 -7.34752045e-01 -8.07913406e-03 2.91404781e+02] [ 7.34698227e-01 6.78335775e-01 -8.89337482e-03 1.20844398e+02] [ 1.20147910e-02 9.65409965e-05 9.99927815e-01 3.76653256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.880281693 meters Centerline goodness : 0.998821 with order 1 Centerline is valid? [True, True] Translation: X:291.44, Y:120.89, Z:3.76 [[ 6.73365156e-01 -7.39265937e-01 -8.07727153e-03 2.91442128e+02] [ 7.39212421e-01 6.73413599e-01 -8.89506612e-03 1.20887496e+02] [ 1.20151639e-02 1.88081461e-05 9.99927815e-01 3.76186842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.940281693 meters Centerline goodness : 0.998678 with order 1 Centerline is valid? [True, True] Translation: X:291.48, Y:120.93, Z:3.77 [[ 6.66809936e-01 -7.45184069e-01 -8.07538650e-03 2.91478957e+02] [ 7.45130963e-01 6.66858827e-01 -8.89677712e-03 1.20929739e+02] [ 1.20148793e-02 -8.47611394e-05 9.99927815e-01 3.76605878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.000281693 meters Centerline goodness : 0.998898 with order 1 Centerline is valid? [True, True] Translation: X:291.52, Y:120.97, Z:3.77 [[ 6.64387692e-01 -7.47344508e-01 -8.07342141e-03 2.91517777e+02] [ 7.47291539e-01 6.64436732e-01 -8.89855999e-03 1.20971586e+02] [ 1.20145677e-02 -1.21105769e-04 9.99927815e-01 3.76549837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.060281693 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:291.56, Y:121.01, Z:3.76 [[ 6.61006501e-01 -7.50336762e-01 -8.07155645e-03 2.91557634e+02] [ 7.50283994e-01 6.61055757e-01 -8.90025130e-03 1.21012454e+02] [ 1.20139346e-02 -1.72835644e-04 9.99927815e-01 3.76329852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.120281693 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:291.60, Y:121.05, Z:3.77 [[ 6.58313099e-01 -7.52700966e-01 -8.06969115e-03 2.91597934e+02] [ 7.52648354e-01 6.58362522e-01 -8.90194222e-03 1.21051273e+02] [ 1.20132827e-02 -2.13374590e-04 9.99927815e-01 3.76938372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.180281693 meters Centerline goodness : 0.998780 with order 1 Centerline is valid? [True, True] Translation: X:291.64, Y:121.09, Z:3.77 [[ 6.58144483e-01 -7.52848425e-01 -8.06774085e-03 2.91637945e+02] [ 7.52795803e-01 6.58193895e-01 -8.90370940e-03 1.21092687e+02] [ 1.20132814e-02 -2.13434231e-04 9.99927815e-01 3.77304803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.240281693 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:291.68, Y:121.14, Z:3.78 [[ 6.64348574e-01 -7.47379363e-01 -8.06593954e-03 2.91675462e+02] [ 7.47326314e-01 6.64397528e-01 -8.90534092e-03 1.21135984e+02] [ 1.20146583e-02 -1.11638322e-04 9.99927815e-01 3.77600596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.300281693 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:291.71, Y:121.18, Z:3.77 [[ 6.68367742e-01 -7.43787289e-01 -8.06413419e-03 2.91711670e+02] [ 7.43733957e-01 6.68416388e-01 -8.90697544e-03 1.21179959e+02] [ 1.20150946e-02 -4.44353613e-05 9.99927815e-01 3.77421420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.360281693 meters Centerline goodness : 0.998841 with order 1 Centerline is valid? [True, True] Translation: X:291.75, Y:121.22, Z:3.77 [[ 6.68672095e-01 -7.43513705e-01 -8.06226978e-03 2.91747464e+02] [ 7.43460333e-01 6.68720696e-01 -8.90866271e-03 1.21222682e+02] [ 1.20151195e-02 -3.70036132e-05 9.99927815e-01 3.77118815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42028169299994 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:291.79, Y:121.26, Z:3.77 [[ 6.65587393e-01 -7.46276392e-01 -8.06032282e-03 2.91788556e+02] [ 7.46223200e-01 6.65636192e-01 -8.91042393e-03 1.21262289e+02] [ 1.20148816e-02 -8.41340519e-05 9.99927815e-01 3.77264165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48028169299994 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:291.83, Y:121.30, Z:3.77 [[ 6.66231420e-01 -7.45701519e-01 -8.05850044e-03 2.91826472e+02] [ 7.45648265e-01 6.66280151e-01 -8.91207176e-03 1.21303868e+02] [ 1.20149643e-02 -7.13046478e-05 9.99927815e-01 3.77268932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54028169299994 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:291.86, Y:121.35, Z:3.77 [[ 6.71238771e-01 -7.41197412e-01 -8.05659132e-03 2.91864669e+02] [ 7.41143811e-01 6.71287119e-01 -8.91379729e-03 1.21346833e+02] [ 1.20151695e-02 1.21935473e-05 9.99927815e-01 3.76813396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60028169299994 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:291.90, Y:121.39, Z:3.77 [[ 6.75000185e-01 -7.37773591e-01 -8.05473505e-03 2.91903153e+02] [ 7.37719724e-01 6.75048237e-01 -8.91547434e-03 1.21389558e+02] [ 1.20149362e-02 7.58099079e-05 9.99927815e-01 3.76846125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66028169299994 meters Centerline goodness : 0.998897 with order 1 Centerline is valid? [True, True] Translation: X:291.94, Y:121.43, Z:3.77 [[ 6.78528946e-01 -7.34529523e-01 -8.05283201e-03 2.91938246e+02] [ 7.34475407e-01 6.78576717e-01 -8.91719292e-03 1.21433999e+02] [ 1.20144058e-02 1.35966452e-04 9.99927815e-01 3.77307852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72028169299995 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:291.97, Y:121.48, Z:3.77 [[ 6.81909795e-01 -7.31391965e-01 -8.05136265e-03 2.91969617e+02] [ 7.31337613e-01 6.81957298e-01 -8.91851941e-03 1.21480852e+02] [ 1.20136190e-02 1.93361400e-04 9.99927815e-01 3.77353050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78028169299995 meters Centerline goodness : 0.998934 with order 1 Centerline is valid? [True, True] Translation: X:292.00, Y:121.53, Z:3.77 [[ 6.85448305e-01 -7.28076801e-01 -8.04940320e-03 2.91999912e+02] [ 7.28022198e-01 6.85495520e-01 -8.92028756e-03 1.21530206e+02] [ 1.20124843e-02 2.54251786e-04 9.99927815e-01 3.77260460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84028169299995 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:292.03, Y:121.58, Z:3.78 [[ 6.84801885e-01 -7.28684853e-01 -8.04757723e-03 2.92033429e+02] [ 7.28630273e-01 6.84849125e-01 -8.92193459e-03 1.21576774e+02] [ 1.20126548e-02 2.46049233e-04 9.99927815e-01 3.77754204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90028169299995 meters Centerline goodness : 0.999049 with order 1 Centerline is valid? [True, True] Translation: X:292.07, Y:121.62, Z:3.78 [[ 6.82085738e-01 -7.31227948e-01 -8.04576288e-03 2.92068477e+02] [ 7.31173524e-01 6.82133159e-01 -8.92357046e-03 1.21622754e+02] [ 1.20134458e-02 2.03791343e-04 9.99927815e-01 3.77886943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96028169299996 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:292.10, Y:121.67, Z:3.78 [[ 6.79123872e-01 -7.33979606e-01 -8.04390426e-03 2.92102662e+02] [ 7.33925355e-01 6.79171490e-01 -8.92524555e-03 1.21668084e+02] [ 1.20141387e-02 1.57722019e-04 9.99927815e-01 3.77942397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02028169299996 meters Centerline goodness : 0.999045 with order 1 Centerline is valid? [True, True] Translation: X:292.14, Y:121.71, Z:3.78 [[ 6.77410954e-01 -7.35560824e-01 -8.04195880e-03 2.92139055e+02] [ 7.35506664e-01 6.77458675e-01 -8.92699813e-03 1.21710524e+02] [ 1.20144449e-02 1.32332036e-04 9.99927815e-01 3.77732098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08028169299996 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:292.18, Y:121.75, Z:3.78 [[ 6.73456534e-01 -7.39183099e-01 -8.04003654e-03 2.92178671e+02] [ 7.39129175e-01 6.73504522e-01 -8.92872906e-03 1.21751729e+02] [ 1.20149666e-02 7.04853552e-05 9.99927815e-01 3.77709633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14028169299996 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:292.22, Y:121.79, Z:3.78 [[ 6.67801100e-01 -7.44296364e-01 -8.03824372e-03 2.92219523e+02] [ 7.44242788e-01 6.67849475e-01 -8.93034279e-03 1.21790028e+02] [ 1.20151585e-02 -1.87121796e-05 9.99927815e-01 3.77556852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20028169299997 meters Centerline goodness : 0.999193 with order 1 Centerline is valid? [True, True] Translation: X:292.26, Y:121.83, Z:3.78 [[ 6.64990480e-01 -7.46808596e-01 -8.03637165e-03 2.92260577e+02] [ 7.46755182e-01 6.65039035e-01 -8.93202714e-03 1.21829645e+02] [ 1.20150155e-02 -6.14891558e-05 9.99927815e-01 3.77933974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26028169299997 meters Centerline goodness : 0.999295 with order 1 Centerline is valid? [True, True] Translation: X:292.31, Y:121.87, Z:3.78 [[ 6.61246815e-01 -7.50125387e-01 -8.03449333e-03 2.92305407e+02] [ 7.50072196e-01 6.61295614e-01 -8.93371640e-03 1.21865750e+02] [ 1.20145827e-02 -1.19058545e-04 9.99927815e-01 3.77822283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32028169299997 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:292.35, Y:121.90, Z:3.78 [[ 6.59748470e-01 -7.51443567e-01 -8.03260928e-03 2.92349958e+02] [ 7.51390453e-01 6.59797352e-01 -8.93541009e-03 1.21900756e+02] [ 1.20143508e-02 -1.40502790e-04 9.99927815e-01 3.78028781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.380281693 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:292.40, Y:121.94, Z:3.79 [[ 6.60670744e-01 -7.50632851e-01 -8.03064022e-03 2.92395594e+02] [ 7.50579655e-01 6.60719538e-01 -8.93717942e-03 1.21938005e+02] [ 1.20145414e-02 -1.23102195e-04 9.99927815e-01 3.78527009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.440281693 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:292.44, Y:121.97, Z:3.78 [[ 6.65255911e-01 -7.46572240e-01 -8.02891073e-03 2.92439347e+02] [ 7.46518728e-01 6.65304358e-01 -8.93873287e-03 1.21973870e+02] [ 1.20150791e-02 -4.71873470e-05 9.99927815e-01 3.78264701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.500281693 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:292.48, Y:122.01, Z:3.78 [[ 6.70542938e-01 -7.41827296e-01 -8.02688825e-03 2.92480324e+02] [ 7.41773419e-01 6.70590979e-01 -8.94054867e-03 1.22014117e+02] [ 1.20151019e-02 4.08894395e-05 9.99927815e-01 3.78350705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.560281693 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:292.52, Y:122.06, Z:3.79 [[ 6.79652438e-01 -7.33490397e-01 -8.02500004e-03 2.92518079e+02] [ 7.33435911e-01 6.79699787e-01 -8.94224320e-03 1.22056850e+02] [ 1.20136403e-02 1.91794166e-04 9.99927815e-01 3.78509187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.620281693 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:292.55, Y:122.10, Z:3.79 [[ 6.84379169e-01 -7.29082151e-01 -8.02311148e-03 2.92552832e+02] [ 7.29027340e-01 6.84426142e-01 -8.94393732e-03 1.22101080e+02] [ 1.20120923e-02 2.71976768e-04 9.99927815e-01 3.78696598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.680281693 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:292.59, Y:122.15, Z:3.79 [[ 6.87519976e-01 -7.26121158e-01 -8.02165991e-03 2.92585905e+02] [ 7.26066130e-01 6.87566693e-01 -8.94523902e-03 1.22148817e+02] [ 1.20107535e-02 3.25774954e-04 9.99927815e-01 3.78818284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.740281693 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:292.62, Y:122.20, Z:3.79 [[ 6.87715551e-01 -7.25935948e-01 -8.01997762e-03 2.92620656e+02] [ 7.25880890e-01 6.87762233e-01 -8.94674705e-03 1.22196138e+02] [ 1.20106030e-02 3.31268586e-04 9.99927815e-01 3.78828294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.800281693 meters Centerline goodness : 0.999534 with order 1 Centerline is valid? [True, True] Translation: X:292.65, Y:122.25, Z:3.79 [[ 6.85946352e-01 -7.27607937e-01 -8.01829901e-03 2.92651846e+02] [ 7.27552975e-01 6.85993147e-01 -8.94825120e-03 1.22245429e+02] [ 1.20113168e-02 3.04282969e-04 9.99927815e-01 3.78685720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.860281693 meters Centerline goodness : 0.999427 with order 1 Centerline is valid? [True, True] Translation: X:292.69, Y:122.29, Z:3.79 [[ 6.81860585e-01 -7.31438224e-01 -8.01661133e-03 2.92686255e+02] [ 7.31383508e-01 6.81907667e-01 -8.94976292e-03 1.22292905e+02] [ 1.20127874e-02 2.39273264e-04 9.99927815e-01 3.78826112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92028169299994 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:292.72, Y:122.34, Z:3.79 [[ 6.77210248e-01 -7.35745908e-01 -8.01493639e-03 2.92723797e+02] [ 7.35691473e-01 6.77257655e-01 -8.95126265e-03 1.22337664e+02] [ 1.20140319e-02 1.65366438e-04 9.99927815e-01 3.78522195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98028169299994 meters Centerline goodness : 0.999448 with order 1 Centerline is valid? [True, True] Translation: X:292.76, Y:122.38, Z:3.79 [[ 6.75622860e-01 -7.37203865e-01 -8.01326050e-03 2.92759980e+02] [ 7.37149515e-01 6.75670364e-01 -8.95276268e-03 1.22381269e+02] [ 1.20143339e-02 1.41720039e-04 9.99927815e-01 3.78683748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04028169299994 meters Centerline goodness : 0.999428 with order 1 Centerline is valid? [True, True] Translation: X:292.80, Y:122.42, Z:3.79 [[ 6.76014898e-01 -7.36844399e-01 -8.01180362e-03 2.92795432e+02] [ 7.36790008e-01 6.76062356e-01 -8.95406625e-03 1.22424313e+02] [ 1.20142324e-02 1.50065334e-04 9.99927815e-01 3.78764030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10028169299994 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:292.83, Y:122.47, Z:3.79 [[ 6.77701755e-01 -7.35293257e-01 -8.00986142e-03 2.92830971e+02] [ 7.35238737e-01 6.77749064e-01 -8.95580330e-03 1.22469305e+02] [ 1.20138179e-02 1.80203223e-04 9.99927815e-01 3.78634462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16028169299994 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:292.87, Y:122.51, Z:3.79 [[ 6.76117171e-01 -7.36750597e-01 -8.00804584e-03 2.92865585e+02] [ 7.36696159e-01 6.76164576e-01 -8.95742645e-03 1.22512934e+02] [ 1.20141462e-02 1.56773219e-04 9.99927815e-01 3.79155198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22028169299995 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:292.91, Y:122.55, Z:3.79 [[ 6.69301650e-01 -7.42947643e-01 -8.00637789e-03 2.92907086e+02] [ 7.42893626e-01 6.69349533e-01 -8.95891707e-03 1.22552346e+02] [ 1.20150716e-02 4.83308714e-05 9.99927815e-01 3.79110049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28028169299995 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:292.95, Y:122.59, Z:3.79 [[ 6.61880173e-01 -7.49566917e-01 -8.00456198e-03 2.92952270e+02] [ 7.49513360e-01 6.61928570e-01 -8.96053924e-03 1.22589905e+02] [ 1.20149720e-02 -6.87228823e-05 9.99927815e-01 3.79041551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34028169299995 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:293.00, Y:122.63, Z:3.79 [[ 6.59841654e-01 -7.51362060e-01 -8.00286685e-03 2.92995133e+02] [ 7.51308616e-01 6.59890176e-01 -8.96205295e-03 1.22627994e+02] [ 1.20147598e-02 -9.90869769e-05 9.99927815e-01 3.79190905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40028169299995 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:293.04, Y:122.67, Z:3.79 [[ 6.61810045e-01 -7.49628874e-01 -8.00098324e-03 2.93038600e+02] [ 7.49575283e-01 6.61858404e-01 -8.96373425e-03 1.22665087e+02] [ 1.20149920e-02 -6.50499041e-05 9.99927815e-01 3.79132392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46028169299996 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:293.08, Y:122.70, Z:3.79 [[ 6.64590554e-01 -7.47164916e-01 -7.99901317e-03 2.93081095e+02] [ 7.47111124e-01 6.64638690e-01 -8.96549194e-03 1.22703733e+02] [ 1.20151547e-02 -1.77704720e-05 9.99927815e-01 3.79165706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52028169299996 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:293.12, Y:122.74, Z:3.79 [[ 6.64464819e-01 -7.47276757e-01 -7.99712614e-03 2.93121299e+02] [ 7.47222953e-01 6.64512941e-01 -8.96717484e-03 1.22742836e+02] [ 1.20151551e-02 -1.72640034e-05 9.99927815e-01 3.78621905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58028169299996 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:293.16, Y:122.78, Z:3.79 [[ 6.62410244e-01 -7.49098622e-01 -7.99515287e-03 2.93159799e+02] [ 7.49044929e-01 6.62458491e-01 -8.96893387e-03 1.22784508e+02] [ 1.20150729e-02 -4.76150397e-05 9.99927815e-01 3.78950247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64028169299996 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:293.20, Y:122.83, Z:3.79 [[ 6.61089458e-01 -7.50264510e-01 -7.99330988e-03 2.93200012e+02] [ 7.50210883e-01 6.61137777e-01 -8.97057607e-03 1.22825018e+02] [ 1.20149840e-02 -6.63147897e-05 9.99927815e-01 3.79288069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70028169299997 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:293.24, Y:122.87, Z:3.80 [[ 6.60789797e-01 -7.50528468e-01 -7.99140270e-03 2.93241358e+02] [ 7.50474839e-01 6.60838115e-01 -8.97227476e-03 1.22866314e+02] [ 1.20149711e-02 -6.85590362e-05 9.99927815e-01 3.79593646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76028169299997 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:293.28, Y:122.91, Z:3.80 [[ 6.63788263e-01 -7.47877869e-01 -7.98962506e-03 2.93279014e+02] [ 7.47824029e-01 6.63836344e-01 -8.97385743e-03 1.22908649e+02] [ 1.20151529e-02 -1.80923645e-05 9.99927815e-01 3.79576481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82028169299997 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:293.32, Y:122.95, Z:3.80 [[ 6.68543885e-01 -7.43629794e-01 -7.98775257e-03 2.93315495e+02] [ 7.43575628e-01 6.68591599e-01 -8.97552385e-03 1.22951639e+02] [ 1.20150112e-02 6.10334536e-05 9.99927815e-01 3.79725501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.880281693 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:293.35, Y:123.00, Z:3.80 [[ 6.72095590e-01 -7.40421330e-01 -7.98576656e-03 2.93352631e+02] [ 7.40366915e-01 6.72143020e-01 -8.97729051e-03 1.22995661e+02] [ 1.20145546e-02 1.21200006e-04 9.99927815e-01 3.79691132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.940281693 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:293.39, Y:123.04, Z:3.80 [[ 6.73168005e-01 -7.39446479e-01 -7.98384161e-03 2.93388351e+02] [ 7.39391975e-01 6.73215333e-01 -8.97900211e-03 1.23039751e+02] [ 1.20143361e-02 1.41188516e-04 9.99927815e-01 3.79894604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.000281693 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:293.42, Y:123.08, Z:3.80 [[ 6.72346641e-01 -7.40193409e-01 -7.98193193e-03 2.93424649e+02] [ 7.40138938e-01 6.72394006e-01 -8.98069941e-03 1.23082442e+02] [ 1.20144577e-02 1.30404457e-04 9.99927815e-01 3.80226239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.060281693 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:293.46, Y:123.13, Z:3.80 [[ 6.71797861e-01 -7.40691538e-01 -7.97994124e-03 2.93462154e+02] [ 7.40637081e-01 6.71845242e-01 -8.98246792e-03 1.23126636e+02] [ 1.20145235e-02 1.24162349e-04 9.99927815e-01 3.80174751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.120281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:293.50, Y:123.17, Z:3.80 [[ 6.73099199e-01 -7.39509173e-01 -7.97818738e-03 2.93499506e+02] [ 7.39454613e-01 6.73146464e-01 -8.98402542e-03 1.23169332e+02] [ 1.20142578e-02 1.47632850e-04 9.99927815e-01 3.80061401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.180281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:293.54, Y:123.21, Z:3.81 [[ 6.73951458e-01 -7.38732570e-01 -7.97633982e-03 2.93537435e+02] [ 7.38677937e-01 6.73998638e-01 -8.98566545e-03 1.23212174e+02] [ 1.20140459e-02 1.63956091e-04 9.99927815e-01 3.80564494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.240281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:293.58, Y:123.25, Z:3.81 [[ 6.73189530e-01 -7.39426985e-01 -7.97441379e-03 2.93578942e+02] [ 7.39372380e-01 6.73236742e-01 -8.98737440e-03 1.23250076e+02] [ 1.20141755e-02 1.54145037e-04 9.99927815e-01 3.80527019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.300281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:293.62, Y:123.29, Z:3.81 [[ 6.72226141e-01 -7.40302943e-01 -7.97293154e-03 2.93619733e+02] [ 7.40248385e-01 6.72273406e-01 -8.98868915e-03 1.23289640e+02] [ 1.20143429e-02 1.40482127e-04 9.99927815e-01 3.80680416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.360281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:293.66, Y:123.33, Z:3.81 [[ 6.71799433e-01 -7.40690208e-01 -7.97101706e-03 2.93659095e+02] [ 7.40635657e-01 6.71846707e-01 -8.99038657e-03 1.23330039e+02] [ 1.20143929e-02 1.36117148e-04 9.99927815e-01 3.80671130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42028169299994 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:293.70, Y:123.37, Z:3.81 [[ 6.70244781e-01 -7.42097317e-01 -7.96901781e-03 2.93703649e+02] [ 7.42042844e-01 6.70292145e-01 -8.99215833e-03 1.23366754e+02] [ 1.20146266e-02 1.13594553e-04 9.99927815e-01 3.80613138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48028169299994 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:293.74, Y:123.41, Z:3.81 [[ 6.68362665e-01 -7.43792896e-01 -7.96711871e-03 2.93744805e+02] [ 7.43738523e-01 6.68410144e-01 -8.99384063e-03 1.23405826e+02] [ 1.20148577e-02 8.56941911e-05 9.99927815e-01 3.80574474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54028169299994 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:293.79, Y:123.45, Z:3.80 [[ 6.68488083e-01 -7.43680200e-01 -7.96513291e-03 2.93786439e+02] [ 7.43625797e-01 6.68535528e-01 -8.99559896e-03 1.23445762e+02] [ 1.20148232e-02 9.03723954e-05 9.99927815e-01 3.80397197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60028169299994 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:293.83, Y:123.49, Z:3.80 [[ 6.70979068e-01 -7.41433528e-01 -7.96330423e-03 2.93828313e+02] [ 7.41378948e-01 6.71026308e-01 -8.99721749e-03 1.23485557e+02] [ 1.20144253e-02 1.33118494e-04 9.99927815e-01 3.80219207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66028169299994 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:293.87, Y:123.53, Z:3.80 [[ 6.73433980e-01 -7.39204498e-01 -7.96145027e-03 2.93867801e+02] [ 7.39149742e-01 6.73481016e-01 -8.99885773e-03 1.23527184e+02] [ 1.20138817e-02 1.75432654e-04 9.99927815e-01 3.80427330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72028169299995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:293.91, Y:123.57, Z:3.80 [[ 6.77107102e-01 -7.35841435e-01 -7.95959857e-03 2.93905366e+02] [ 7.35786426e-01 6.77153842e-01 -9.00049528e-03 1.23570805e+02] [ 1.20128101e-02 2.37734694e-04 9.99927815e-01 3.80353240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78028169299995 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:293.94, Y:123.62, Z:3.80 [[ 6.78915066e-01 -7.34173690e-01 -7.95775650e-03 2.93939422e+02] [ 7.34118547e-01 6.78961649e-01 -9.00212365e-03 1.23617455e+02] [ 1.20121338e-02 2.69740733e-04 9.99927815e-01 3.80434393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84028169299995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:293.97, Y:123.66, Z:3.81 [[ 6.76554090e-01 -7.36349962e-01 -7.95593153e-03 2.93973968e+02] [ 7.36294950e-01 6.76600827e-01 -9.00373623e-03 1.23663531e+02] [ 1.20128907e-02 2.33602360e-04 9.99927815e-01 3.80817884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90028169299995 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:294.01, Y:123.71, Z:3.81 [[ 6.74452191e-01 -7.38275677e-01 -7.95408269e-03 2.94007222e+02] [ 7.38220779e-01 6.74499062e-01 -9.00536924e-03 1.23708651e+02] [ 1.20134664e-02 2.01821889e-04 9.99927815e-01 3.81146587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.04, Y:123.75, Z:3.81 [[ 6.76184968e-01 -7.36688980e-01 -7.95214357e-03 2.94042032e+02] [ 7.36633952e-01 6.76231686e-01 -9.00708125e-03 1.23754344e+02] [ 1.20129089e-02 2.32633997e-04 9.99927815e-01 3.81183868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02028169299996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:294.07, Y:123.81, Z:3.81 [[ 6.81785112e-01 -7.31509299e-01 -7.95030207e-03 2.94068881e+02] [ 7.31453898e-01 6.81831386e-01 -9.00870640e-03 1.23805190e+02] [ 1.20107180e-02 3.26722465e-04 9.99927815e-01 3.81195657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:294.10, Y:123.85, Z:3.81 [[ 6.79989558e-01 -7.33178707e-01 -7.94888272e-03 2.94104790e+02] [ 7.33123405e-01 6.80035950e-01 -9.00995859e-03 1.23850264e+02] [ 1.20114358e-02 2.99165795e-04 9.99927815e-01 3.81029980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:294.14, Y:123.89, Z:3.81 [[ 6.69441186e-01 -7.42822551e-01 -7.94714809e-03 2.94142241e+02] [ 7.42767899e-01 6.69488343e-01 -9.01148835e-03 1.23893365e+02] [ 1.20144598e-02 1.29774953e-04 9.99927815e-01 3.81438266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.18, Y:123.94, Z:3.81 [[ 6.61501289e-01 -7.49901938e-01 -7.94525879e-03 2.94180502e+02] [ 7.49847771e-01 6.61549003e-01 -9.01315380e-03 1.23935889e+02] [ 1.20151595e-02 4.47825704e-06 9.99927815e-01 3.81051869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26028169299997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:294.22, Y:123.98, Z:3.81 [[ 6.61605842e-01 -7.49809718e-01 -7.94334703e-03 2.94219398e+02] [ 7.49755524e-01 6.61653525e-01 -9.01483833e-03 1.23975950e+02] [ 1.20151569e-02 8.70139006e-06 9.99927815e-01 3.80626820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32028169299997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:294.26, Y:124.02, Z:3.81 [[ 6.64466500e-01 -7.47275857e-01 -7.94134630e-03 2.94257600e+02] [ 7.47221460e-01 6.64513951e-01 -9.01660047e-03 1.24016613e+02] [ 1.20150232e-02 5.72845812e-05 9.99927815e-01 3.80564440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.380281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:294.30, Y:124.06, Z:3.81 [[ 6.65803769e-01 -7.46084652e-01 -7.93940004e-03 2.94295776e+02] [ 7.46030150e-01 6.65851099e-01 -9.01831389e-03 1.24058563e+02] [ 1.20148838e-02 8.13955723e-05 9.99927815e-01 3.80649767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.440281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:294.33, Y:124.10, Z:3.81 [[ 6.67214712e-01 -7.44823149e-01 -7.93756737e-03 2.94334700e+02] [ 7.44768538e-01 6.67261917e-01 -9.01992664e-03 1.24099919e+02] [ 1.20146866e-02 1.06577306e-04 9.99927815e-01 3.81451219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.500281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.37, Y:124.14, Z:3.81 [[ 6.67230593e-01 -7.44808943e-01 -7.93562729e-03 2.94374436e+02] [ 7.44754311e-01 6.67277773e-01 -9.02163318e-03 1.24141661e+02] [ 1.20146608e-02 1.09417020e-04 9.99927815e-01 3.81369276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.560281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:294.41, Y:124.18, Z:3.82 [[ 6.67096275e-01 -7.44929269e-01 -7.93370821e-03 2.94414319e+02] [ 7.44874626e-01 6.67143442e-01 -9.02332052e-03 1.24182661e+02] [ 1.20146570e-02 1.09805573e-04 9.99927815e-01 3.81650292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.620281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:294.45, Y:124.22, Z:3.81 [[ 6.70631749e-01 -7.41748033e-01 -7.93180253e-03 2.94454106e+02] [ 7.41693146e-01 6.70678632e-01 -9.02499536e-03 1.24222393e+02] [ 1.20139630e-02 1.69484850e-04 9.99927815e-01 3.81462316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.680281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:294.49, Y:124.27, Z:3.81 [[ 6.74004785e-01 -7.38684417e-01 -7.92981690e-03 2.94491370e+02] [ 7.38629296e-01 6.74051393e-01 -9.02673970e-03 1.24265756e+02] [ 1.20130161e-02 2.26870676e-04 9.99927815e-01 3.81318558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.740281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:294.53, Y:124.31, Z:3.82 [[ 6.76835256e-01 -7.36091831e-01 -7.92794343e-03 2.94529139e+02] [ 7.36036513e-01 6.76881629e-01 -9.02838483e-03 1.24308547e+02] [ 1.20119996e-02 2.75473318e-04 9.99927815e-01 3.81694768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.800281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.57, Y:124.35, Z:3.82 [[ 6.74282557e-01 -7.38430911e-01 -7.92608791e-03 2.94566349e+02] [ 7.38375734e-01 6.74329099e-01 -9.03001350e-03 1.24350732e+02] [ 1.20128328e-02 2.36349617e-04 9.99927815e-01 3.81550710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.860281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:294.60, Y:124.39, Z:3.82 [[ 6.71687965e-01 -7.40791796e-01 -7.92415387e-03 2.94604343e+02] [ 7.40736763e-01 6.71734677e-01 -9.03171038e-03 1.24393013e+02] [ 1.20135459e-02 1.96779073e-04 9.99927815e-01 3.81974748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92028169299994 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:294.64, Y:124.44, Z:3.82 [[ 6.70964554e-01 -7.41447101e-01 -7.92233728e-03 2.94641276e+02] [ 7.41392095e-01 6.71011297e-01 -9.03330355e-03 1.24435960e+02] [ 1.20136945e-02 1.87468254e-04 9.99927815e-01 3.82093055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98028169299994 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:294.68, Y:124.48, Z:3.82 [[ 6.71919734e-01 -7.40581622e-01 -7.92037687e-03 2.94676104e+02] [ 7.40526535e-01 6.71966382e-01 -9.03502211e-03 1.24479953e+02] [ 1.20133983e-02 2.05560411e-04 9.99927815e-01 3.81958926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04028169299994 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:294.71, Y:124.52, Z:3.82 [[ 6.72097348e-01 -7.40420457e-01 -7.91843238e-03 2.94713631e+02] [ 7.40365339e-01 6.72143959e-01 -9.03672596e-03 1.24523227e+02] [ 1.20133033e-02 2.11026673e-04 9.99927815e-01 3.81962464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10028169299994 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:294.75, Y:124.56, Z:3.82 [[ 6.68855138e-01 -7.43350611e-01 -7.91665455e-03 2.94751182e+02] [ 7.43295679e-01 6.68901969e-01 -9.03828317e-03 1.24563387e+02] [ 1.20140791e-02 1.60887029e-04 9.99927815e-01 3.81602220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16028169299994 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:294.79, Y:124.61, Z:3.83 [[ 6.67092432e-01 -7.44932914e-01 -7.91460395e-03 2.94788720e+02] [ 7.44878072e-01 6.67139367e-01 -9.04007847e-03 1.24605473e+02] [ 1.20143959e-02 1.35153002e-04 9.99927815e-01 3.82571919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22028169299995 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:294.83, Y:124.65, Z:3.82 [[ 6.66354135e-01 -7.45593425e-01 -7.91268056e-03 2.94827016e+02] [ 7.45538610e-01 6.66401102e-01 -9.04176168e-03 1.24648227e+02] [ 1.20144971e-02 1.25806425e-04 9.99927815e-01 3.82480035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28028169299995 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:294.87, Y:124.69, Z:3.82 [[ 6.65714377e-01 -7.46164719e-01 -7.91073508e-03 2.94865259e+02] [ 7.46109924e-01 6.65761367e-01 -9.04346348e-03 1.24690529e+02] [ 1.20145752e-02 1.18085713e-04 9.99927815e-01 3.82497869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34028169299995 meters Centerline goodness : 0.999468 with order 1 Centerline is valid? [True, True] Translation: X:294.90, Y:124.73, Z:3.82 [[ 6.65578976e-01 -7.46285520e-01 -7.90879912e-03 2.94902450e+02] [ 7.46230713e-01 6.65625953e-01 -9.04515622e-03 1.24731981e+02] [ 1.20145711e-02 1.18477013e-04 9.99927815e-01 3.82380043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40028169299995 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:294.94, Y:124.77, Z:3.82 [[ 6.65599444e-01 -7.46267287e-01 -7.90677904e-03 2.94939792e+02] [ 7.46212457e-01 6.65646394e-01 -9.04692172e-03 1.24774874e+02] [ 1.20145407e-02 1.21489045e-04 9.99927815e-01 3.82454535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46028169299996 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:294.97, Y:124.82, Z:3.83 [[ 6.65917759e-01 -7.45983278e-01 -7.90486357e-03 2.94974787e+02] [ 7.45928408e-01 6.65964663e-01 -9.04859508e-03 1.24819090e+02] [ 1.20144604e-02 1.29157858e-04 9.99927815e-01 3.82743946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52028169299996 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:295.01, Y:124.86, Z:3.83 [[ 6.64300722e-01 -7.47423633e-01 -7.90338454e-03 2.95010671e+02] [ 7.47368850e-01 6.64347727e-01 -9.04988674e-03 1.24862247e+02] [ 1.20146948e-02 1.05102889e-04 9.99927815e-01 3.82585832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58028169299996 meters Centerline goodness : 0.999619 with order 1 Centerline is valid? [True, True] Translation: X:295.05, Y:124.90, Z:3.82 [[ 6.62104296e-01 -7.49370043e-01 -7.90193376e-03 2.95048712e+02] [ 7.49315382e-01 6.62151444e-01 -9.05115331e-03 1.24904880e+02] [ 1.20149400e-02 7.17669783e-05 9.99927815e-01 3.82402722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64028169299996 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:295.09, Y:124.95, Z:3.83 [[ 6.62453538e-01 -7.49061346e-01 -7.90003885e-03 2.95086142e+02] [ 7.49006644e-01 6.62500637e-01 -9.05280692e-03 1.24948182e+02] [ 1.20148885e-02 7.98823812e-05 9.99927815e-01 3.82976992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70028169299997 meters Centerline goodness : 0.999449 with order 1 Centerline is valid? [True, True] Translation: X:295.12, Y:124.99, Z:3.83 [[ 6.62900575e-01 -7.48665779e-01 -7.89806356e-03 2.95124058e+02] [ 7.48611028e-01 6.62947618e-01 -9.05452993e-03 1.24989330e+02] [ 1.20148191e-02 8.96756121e-05 9.99927815e-01 3.82948011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76028169299997 meters Centerline goodness : 0.999399 with order 1 Centerline is valid? [True, True] Translation: X:295.16, Y:125.03, Z:3.83 [[ 6.62448041e-01 -7.49066249e-01 -7.89600629e-03 2.95164075e+02] [ 7.49011506e-01 6.62495092e-01 -9.05632362e-03 1.25030574e+02] [ 1.20148518e-02 8.51442760e-05 9.99927815e-01 3.82843528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82028169299997 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:295.20, Y:125.07, Z:3.84 [[ 6.60108726e-01 -7.51128586e-01 -7.89406689e-03 2.95204358e+02] [ 7.51073970e-01 6.60155924e-01 -9.05801381e-03 1.25069813e+02] [ 1.20150481e-02 5.02458018e-05 9.99927815e-01 3.83606463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.880281693 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:295.24, Y:125.11, Z:3.83 [[ 6.61162488e-01 -7.50201221e-01 -7.89257433e-03 2.95241388e+02] [ 7.50146523e-01 6.61209591e-01 -9.05931414e-03 1.25112712e+02] [ 1.20149544e-02 6.90914884e-05 9.99927815e-01 3.83472836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.940281693 meters Centerline goodness : 0.999449 with order 1 Centerline is valid? [True, True] Translation: X:295.28, Y:125.16, Z:3.83 [[ 6.63773469e-01 -7.47892052e-01 -7.89059619e-03 2.95278192e+02] [ 7.47837169e-01 6.63820357e-01 -9.06103676e-03 1.25157078e+02] [ 1.20146158e-02 1.13594681e-04 9.99927815e-01 3.83192315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.000281693 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:295.31, Y:125.20, Z:3.83 [[ 6.66767578e-01 -7.45223969e-01 -7.88871891e-03 2.95312741e+02] [ 7.45168880e-01 6.66814223e-01 -9.06267086e-03 1.25202393e+02] [ 1.20140295e-02 1.64267273e-04 9.99927815e-01 3.83336787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.060281693 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:295.35, Y:125.25, Z:3.83 [[ 6.64591753e-01 -7.47165042e-01 -7.88685797e-03 2.95347512e+02] [ 7.47110069e-01 6.64638536e-01 -9.06429007e-03 1.25247011e+02] [ 1.20144304e-02 1.31701418e-04 9.99927815e-01 3.83323719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.120281693 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:295.39, Y:125.29, Z:3.83 [[ 6.58531635e-01 -7.52511737e-01 -7.88491625e-03 2.95385651e+02] [ 7.52457124e-01 6.58578837e-01 -9.06597883e-03 1.25289272e+02] [ 1.20150945e-02 3.71724620e-05 9.99927815e-01 3.83036043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.180281693 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:295.42, Y:125.33, Z:3.83 [[ 6.54347980e-01 -7.56152483e-01 -7.88307103e-03 2.95424966e+02] [ 7.56098114e-01 6.54395463e-01 -9.06758301e-03 1.25330345e+02] [ 1.20151213e-02 -2.70205106e-05 9.99927815e-01 3.83362754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.240281693 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:295.47, Y:125.37, Z:3.83 [[ 6.50523990e-01 -7.59444814e-01 -7.88116762e-03 2.95467354e+02] [ 7.59390665e-01 6.50571723e-01 -9.06923707e-03 1.25369094e+02] [ 1.20148499e-02 -8.51288272e-05 9.99927815e-01 3.83200099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.300281693 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:295.51, Y:125.41, Z:3.84 [[ 6.48432686e-01 -7.61231220e-01 -7.87922438e-03 2.95512921e+02] [ 7.61177182e-01 6.48480544e-01 -9.07092502e-03 1.25405200e+02] [ 1.20145950e-02 -1.15601537e-04 9.99927815e-01 3.83592819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.360281693 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:295.56, Y:125.44, Z:3.84 [[ 6.47486332e-01 -7.62036350e-01 -7.87727047e-03 2.95559043e+02] [ 7.61982351e-01 6.47534234e-01 -9.07262149e-03 1.25441052e+02] [ 1.20144697e-02 -1.27942660e-04 9.99927815e-01 3.83548246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42028169299994 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:295.60, Y:125.48, Z:3.84 [[ 6.49689970e-01 -7.60158485e-01 -7.87534229e-03 2.95604228e+02] [ 7.60104327e-01 6.49737693e-01 -9.07429491e-03 1.25477211e+02] [ 1.20148090e-02 -9.06033590e-05 9.99927815e-01 3.83545924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48028169299994 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:295.65, Y:125.52, Z:3.84 [[ 6.52886983e-01 -7.57414416e-01 -7.87339762e-03 2.95645357e+02] [ 7.57360037e-01 6.52934454e-01 -9.07598191e-03 1.25516525e+02] [ 1.20150921e-02 -3.74062612e-05 9.99927815e-01 3.83582468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54028169299994 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:295.69, Y:125.55, Z:3.84 [[ 6.59013875e-01 -7.52089592e-01 -7.87136077e-03 2.95688622e+02] [ 7.52034808e-01 6.59060879e-01 -9.07774807e-03 1.25552770e+02] [ 1.20149858e-02 6.28246544e-05 9.99927815e-01 3.83730588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60028169299994 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:295.73, Y:125.59, Z:3.84 [[ 6.66176377e-01 -7.45752712e-01 -7.86935822e-03 2.95731693e+02] [ 7.45697461e-01 6.66222830e-01 -9.07948372e-03 1.25591054e+02] [ 1.20137957e-02 1.80377124e-04 9.99927815e-01 3.84126512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66028169299994 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:295.77, Y:125.63, Z:3.84 [[ 6.72324163e-01 -7.40215051e-01 -7.86749058e-03 2.95771218e+02] [ 7.40159399e-01 6.72370135e-01 -9.08110177e-03 1.25632294e+02] [ 1.20118339e-02 2.82247052e-04 9.99927815e-01 3.83948837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72028169299995 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:295.81, Y:125.67, Z:3.84 [[ 6.76074108e-01 -7.36791649e-01 -7.86553913e-03 2.95809317e+02] [ 7.36735744e-01 6.76119772e-01 -9.08279169e-03 1.25673928e+02] [ 1.20101716e-02 3.45816469e-04 9.99927815e-01 3.84238557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78028169299995 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:295.84, Y:125.72, Z:3.85 [[ 6.80178602e-01 -7.33004253e-01 -7.86351317e-03 2.95843985e+02] [ 7.32948073e-01 6.80223929e-01 -9.08454534e-03 1.25719362e+02] [ 1.20079602e-02 4.15566521e-04 9.99927815e-01 3.84673748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84028169299995 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:295.88, Y:125.76, Z:3.85 [[ 6.82374435e-01 -7.30960550e-01 -7.86160109e-03 2.95877384e+02] [ 7.30904216e-01 6.82419569e-01 -9.08619972e-03 1.25764963e+02] [ 1.20065640e-02 4.54113019e-04 9.99927815e-01 3.84593913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90028169299995 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:295.91, Y:125.81, Z:3.85 [[ 6.82860332e-01 -7.30506669e-01 -7.85960693e-03 2.95910552e+02] [ 7.30450285e-01 6.82905404e-01 -9.08792435e-03 1.25811971e+02] [ 1.20061574e-02 4.64730921e-04 9.99927816e-01 3.84879784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96028169299996 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:295.94, Y:125.86, Z:3.85 [[ 6.82001084e-01 -7.31308947e-01 -7.85778030e-03 2.95941858e+02] [ 7.31252598e-01 6.82046200e-01 -9.08950346e-03 1.25860912e+02] [ 1.20066044e-02 4.53028956e-04 9.99927816e-01 3.84718630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02028169299996 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:295.97, Y:125.91, Z:3.84 [[ 6.78521757e-01 -7.34538297e-01 -7.85591255e-03 2.95972059e+02] [ 7.34482144e-01 6.78567117e-01 -9.09111744e-03 1.25910406e+02] [ 1.20085378e-02 3.98493492e-04 9.99927816e-01 3.84383888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08028169299996 meters Centerline goodness : 0.999578 with order 1 Centerline is valid? [True, True] Translation: X:296.00, Y:125.96, Z:3.85 [[ 6.75095902e-01 -7.37688171e-01 -7.85401434e-03 2.96001312e+02] [ 7.37632210e-01 6.75141499e-01 -9.09275704e-03 1.25958852e+02] [ 1.20101903e-02 3.45109062e-04 9.99927816e-01 3.84507238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14028169299996 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:296.03, Y:126.01, Z:3.85 [[ 6.69478676e-01 -7.42789768e-01 -7.85254642e-03 2.96032325e+02] [ 7.42734141e-01 6.69524678e-01 -9.09402457e-03 1.26008012e+02] [ 1.20124220e-02 2.55901215e-04 9.99927816e-01 3.84683219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20028169299997 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:296.07, Y:126.05, Z:3.85 [[ 6.63735185e-01 -7.47926448e-01 -7.85062307e-03 2.96065821e+02] [ 7.47871157e-01 6.63781591e-01 -9.09568464e-03 1.26054668e+02] [ 1.20140022e-02 1.65871370e-04 9.99927816e-01 3.84819655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26028169299997 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:296.10, Y:126.10, Z:3.85 [[ 6.60038325e-01 -7.51190926e-01 -7.84867524e-03 2.96100297e+02] [ 7.51135845e-01 6.60084980e-01 -9.09736511e-03 1.26100148e+02] [ 1.20146508e-02 1.09188328e-04 9.99927816e-01 3.85078827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32028169299997 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:296.13, Y:126.14, Z:3.85 [[ 6.57335897e-01 -7.53556865e-01 -7.84668730e-03 2.96134600e+02] [ 7.53501931e-01 6.57382725e-01 -9.09907943e-03 1.26144100e+02] [ 1.20149504e-02 6.86575080e-05 9.99927816e-01 3.85163871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.380281693 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:296.17, Y:126.19, Z:3.85 [[ 6.55730741e-01 -7.54954076e-01 -7.84461423e-03 2.96169759e+02] [ 7.54899221e-01 6.55777661e-01 -9.10086635e-03 1.26189610e+02] [ 1.20150589e-02 4.58246594e-05 9.99927816e-01 3.85465551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.440281693 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:296.20, Y:126.23, Z:3.85 [[ 6.54809710e-01 -7.55753092e-01 -7.84267515e-03 2.96204721e+02] [ 7.55698274e-01 6.54856674e-01 -9.10253705e-03 1.26234825e+02] [ 1.20150987e-02 3.37335770e-05 9.99927816e-01 3.85496510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.500281693 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:296.24, Y:126.28, Z:3.85 [[ 6.55097222e-01 -7.55503906e-01 -7.84075068e-03 2.96239623e+02] [ 7.55449050e-01 6.55144141e-01 -9.10419444e-03 1.26280747e+02] [ 1.20150763e-02 4.08448294e-05 9.99927816e-01 3.85388960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.560281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:296.27, Y:126.33, Z:3.85 [[ 6.54993535e-01 -7.55593821e-01 -7.83877662e-03 2.96272955e+02] [ 7.55538952e-01 6.55040438e-01 -9.10589381e-03 1.26326174e+02] [ 1.20150728e-02 4.18005003e-05 9.99927816e-01 3.85333881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.620281693 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:296.31, Y:126.37, Z:3.86 [[ 6.54040050e-01 -7.56419327e-01 -7.83670957e-03 2.96308576e+02] [ 7.56364495e-01 6.54086998e-01 -9.10767240e-03 1.26371491e+02] [ 1.20151093e-02 2.93736359e-05 9.99927816e-01 3.85567042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.680281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:296.34, Y:126.42, Z:3.85 [[ 6.56439469e-01 -7.54338014e-01 -7.83477116e-03 2.96344949e+02] [ 7.54283013e-01 6.56486219e-01 -9.10933959e-03 1.26416824e+02] [ 1.20149404e-02 7.00952476e-05 9.99927816e-01 3.85441983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.740281693 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:296.38, Y:126.46, Z:3.85 [[ 6.59423534e-01 -7.51730835e-01 -7.83297411e-03 2.96377760e+02] [ 7.51675631e-01 6.59470043e-01 -9.11088458e-03 1.26462501e+02] [ 1.20145446e-02 1.20075948e-04 9.99927816e-01 3.85015932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.800281693 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:296.41, Y:126.51, Z:3.85 [[ 6.61351468e-01 -7.50035275e-01 -7.83085367e-03 2.96413258e+02] [ 7.49979930e-01 6.61397810e-01 -9.11270674e-03 1.26507568e+02] [ 1.20141610e-02 1.53718887e-04 9.99927816e-01 3.85058702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.860281693 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:296.45, Y:126.55, Z:3.85 [[ 6.64067402e-01 -7.47631723e-01 -7.82896998e-03 2.96446441e+02] [ 7.47576191e-01 6.64113520e-01 -9.11432479e-03 1.26554832e+02] [ 1.20134832e-02 1.99774420e-04 9.99927816e-01 3.84825341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92028169299994 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:296.48, Y:126.60, Z:3.85 [[ 6.64813285e-01 -7.46968563e-01 -7.82701104e-03 2.96481737e+02] [ 7.46912966e-01 6.64859324e-01 -9.11600674e-03 1.26599980e+02] [ 1.20132317e-02 2.14346356e-04 9.99927816e-01 3.84739475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98028169299994 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:296.51, Y:126.65, Z:3.85 [[ 6.66821754e-01 -7.45176165e-01 -7.82507364e-03 2.96514701e+02] [ 7.45120424e-01 6.66867619e-01 -9.11766947e-03 1.26646000e+02] [ 1.20125582e-02 2.49238158e-04 9.99927816e-01 3.85136444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04028169299994 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:296.55, Y:126.69, Z:3.85 [[ 6.68700549e-01 -7.43490669e-01 -7.82305872e-03 2.96548963e+02] [ 7.43434793e-01 6.68746249e-01 -9.11939797e-03 1.26692402e+02] [ 1.20118285e-02 2.82212390e-04 9.99927816e-01 3.85340994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10028169299994 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:296.58, Y:126.74, Z:3.86 [[ 6.69740396e-01 -7.42554127e-01 -7.82119974e-03 2.96583735e+02] [ 7.42498168e-01 6.69785994e-01 -9.12099204e-03 1.26738279e+02] [ 1.20113603e-02 3.01470334e-04 9.99927816e-01 3.85593525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16028169299994 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:296.62, Y:126.78, Z:3.86 [[ 6.72309831e-01 -7.40228579e-01 -7.81931599e-03 2.96615945e+02] [ 7.40172444e-01 6.72355212e-01 -9.12260667e-03 1.26784483e+02] [ 1.20101720e-02 3.45575919e-04 9.99927816e-01 3.85676707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22028169299995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:296.65, Y:126.83, Z:3.86 [[ 6.73493897e-01 -7.39151446e-01 -7.81734651e-03 2.96648173e+02] [ 7.39095219e-01 6.73539163e-01 -9.12429404e-03 1.26832587e+02] [ 1.20095242e-02 3.67392915e-04 9.99927816e-01 3.85696422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28028169299995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:296.68, Y:126.88, Z:3.86 [[ 6.74050780e-01 -7.38643665e-01 -7.81547880e-03 2.96681347e+02] [ 7.38587385e-01 6.74095982e-01 -9.12589356e-03 1.26880342e+02] [ 1.20091663e-02 3.78901628e-04 9.99927816e-01 3.86087239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34028169299995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:296.71, Y:126.93, Z:3.86 [[ 6.75149104e-01 -7.37639907e-01 -7.81375452e-03 2.96710850e+02] [ 7.37583543e-01 6.75194200e-01 -9.12736968e-03 1.26931336e+02] [ 1.20085139e-02 3.99038718e-04 9.99927816e-01 3.85643902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40028169299995 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:296.75, Y:126.98, Z:3.86 [[ 6.74391438e-01 -7.38332689e-01 -7.81202473e-03 2.96745326e+02] [ 7.38276355e-01 6.74436571e-01 -9.12884995e-03 1.26977124e+02] [ 1.20088435e-02 3.88985105e-04 9.99927816e-01 3.85576938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46028169299996 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:296.78, Y:127.03, Z:3.86 [[ 6.72247071e-01 -7.40285672e-01 -7.81020459e-03 2.96776580e+02] [ 7.40229450e-01 6.72292345e-01 -9.13040691e-03 1.27025000e+02] [ 1.20098502e-02 3.56545850e-04 9.99927816e-01 3.85755024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52028169299996 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:296.81, Y:127.07, Z:3.86 [[ 6.69012240e-01 -7.43210370e-01 -7.80830390e-03 2.96808305e+02] [ 7.43154327e-01 6.69057735e-01 -9.13203208e-03 1.27071896e+02] [ 1.20112271e-02 3.06666404e-04 9.99927816e-01 3.86040974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58028169299996 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:296.84, Y:127.12, Z:3.87 [[ 6.62963355e-01 -7.48611148e-01 -7.80632277e-03 2.96843102e+02] [ 7.48555456e-01 6.63009279e-01 -9.13372530e-03 1.27116462e+02] [ 1.20132730e-02 2.11859657e-04 9.99927816e-01 3.86611563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64028169299996 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:296.88, Y:127.16, Z:3.86 [[ 6.59500346e-01 -7.51663745e-01 -7.80436011e-03 2.96881481e+02] [ 7.51608246e-01 6.59546503e-01 -9.13540200e-03 1.27159443e+02] [ 1.20140889e-02 1.58979371e-04 9.99927816e-01 3.86464143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70028169299997 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:296.92, Y:127.20, Z:3.87 [[ 6.57632503e-01 -7.53298488e-01 -7.80250237e-03 2.96920365e+02] [ 7.53243085e-01 6.57678775e-01 -9.13698841e-03 1.27201465e+02] [ 1.20144198e-02 1.31599598e-04 9.99927816e-01 3.86521457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76028169299997 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:296.96, Y:127.24, Z:3.86 [[ 6.58727608e-01 -7.52341072e-01 -7.80063140e-03 2.96958096e+02] [ 7.52285583e-01 6.58773776e-01 -9.13858546e-03 1.27244793e+02] [ 1.20141846e-02 1.51536005e-04 9.99927816e-01 3.86411545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82028169299997 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:296.99, Y:127.29, Z:3.86 [[ 6.61694835e-01 -7.49732702e-01 -7.79873838e-03 2.96992297e+02] [ 7.49677012e-01 6.61740761e-01 -9.14020065e-03 1.27290097e+02] [ 1.20134504e-02 2.01488669e-04 9.99927816e-01 3.86250255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.880281693 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:297.03, Y:127.34, Z:3.86 [[ 6.63662717e-01 -7.47991315e-01 -7.79686186e-03 2.97025648e+02] [ 7.47935485e-01 6.63708473e-01 -9.14180110e-03 1.27337301e+02] [ 1.20128311e-02 2.35522900e-04 9.99927816e-01 3.86368431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.940281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:297.06, Y:127.39, Z:3.87 [[ 6.62773607e-01 -7.48779263e-01 -7.79500730e-03 2.97056658e+02] [ 7.48723469e-01 6.62819406e-01 -9.14338216e-03 1.27385724e+02] [ 1.20130571e-02 2.23687459e-04 9.99927816e-01 3.86703006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.000281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:297.09, Y:127.43, Z:3.86 [[ 6.58743191e-01 -7.52327505e-01 -7.79316481e-03 2.97089517e+02] [ 7.52271939e-01 6.58789268e-01 -9.14495230e-03 1.27432888e+02] [ 1.20140525e-02 1.61595857e-04 9.99927816e-01 3.86304418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.060281693 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:297.12, Y:127.48, Z:3.86 [[ 6.57341366e-01 -7.53552670e-01 -7.79121141e-03 2.97120975e+02] [ 7.53497170e-01 6.57387522e-01 -9.14661623e-03 1.27481094e+02] [ 1.20143022e-02 1.41793454e-04 9.99927816e-01 3.86429397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.120281693 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:297.15, Y:127.53, Z:3.86 [[ 6.53252736e-01 -7.57099855e-01 -7.78927276e-03 2.97154322e+02] [ 7.57044587e-01 6.53299168e-01 -9.14826689e-03 1.27529376e+02] [ 1.20148770e-02 7.93036023e-05 9.99927816e-01 3.86488770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.180281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:297.19, Y:127.57, Z:3.87 [[ 6.45149144e-01 -7.64016975e-01 -7.78747618e-03 2.97192139e+02] [ 7.63962185e-01 6.45196141e-01 -9.14979597e-03 1.27571996e+02] [ 1.20150490e-02 -4.63542828e-05 9.99927816e-01 3.86578548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.240281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:297.23, Y:127.61, Z:3.87 [[ 6.42192497e-01 -7.66503869e-01 -7.78559422e-03 2.97229706e+02] [ 7.66449243e-01 6.42239683e-01 -9.15139707e-03 1.27614826e+02] [ 1.20147988e-02 -9.03042615e-05 9.99927816e-01 3.86849443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.300281693 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:297.27, Y:127.66, Z:3.87 [[ 6.37064009e-01 -7.70771601e-01 -7.78374440e-03 2.97268789e+02] [ 7.70717272e-01 6.37111537e-01 -9.15297016e-03 1.27657076e+02] [ 1.20139628e-02 -1.68038383e-04 9.99927816e-01 3.87203610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.360281693 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:297.31, Y:127.70, Z:3.87 [[ 6.33057607e-01 -7.74065572e-01 -7.78179812e-03 2.97310728e+02] [ 7.74011469e-01 6.33105393e-01 -9.15462458e-03 1.27697699e+02] [ 1.20129781e-02 -2.27796260e-04 9.99927816e-01 3.86579646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42028169299994 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:297.35, Y:127.74, Z:3.87 [[ 6.33576990e-01 -7.73640529e-01 -7.78005080e-03 2.97350903e+02] [ 7.73586376e-01 6.33624719e-01 -9.15610929e-03 1.27739665e+02] [ 1.20131697e-02 -2.17441145e-04 9.99927816e-01 3.87016348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48028169299994 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:297.39, Y:127.78, Z:3.87 [[ 6.33536941e-01 -7.73673343e-01 -7.77830666e-03 2.97391960e+02] [ 7.73619175e-01 6.33584652e-01 -9.15759074e-03 1.27779752e+02] [ 1.20131996e-02 -2.15775155e-04 9.99927816e-01 3.87082783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54028169299994 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:297.43, Y:127.82, Z:3.87 [[ 6.32031094e-01 -7.74904010e-01 -7.77634914e-03 2.97434920e+02] [ 7.74849914e-01 6.32078887e-01 -9.15925271e-03 1.27819610e+02] [ 1.20128078e-02 -2.36570954e-04 9.99927816e-01 3.87358995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60028169299994 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:297.47, Y:127.86, Z:3.87 [[ 6.32144616e-01 -7.74811422e-01 -7.77456122e-03 2.97474685e+02] [ 7.74757300e-01 6.32192380e-01 -9.16077008e-03 1.27860147e+02] [ 1.20128877e-02 -2.32466578e-04 9.99927816e-01 3.87254459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66028169299994 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:297.52, Y:127.90, Z:3.87 [[ 6.34028442e-01 -7.73270658e-01 -7.77326437e-03 2.97516209e+02] [ 7.73216407e-01 6.34076059e-01 -9.16187037e-03 1.27898989e+02] [ 1.20134464e-02 -2.01529150e-04 9.99927816e-01 3.87115371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72028169299995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:297.56, Y:127.94, Z:3.87 [[ 6.37857471e-01 -7.70115222e-01 -7.77123354e-03 2.97556014e+02] [ 7.70060714e-01 6.37904794e-01 -9.16359263e-03 1.27940438e+02] [ 1.20143293e-02 -1.39255629e-04 9.99927816e-01 3.87407905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78028169299995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:297.60, Y:127.98, Z:3.87 [[ 6.38815995e-01 -7.69320325e-01 -7.76929443e-03 2.97597312e+02] [ 7.69265738e-01 6.38863227e-01 -9.16523639e-03 1.27979678e+02] [ 1.20145192e-02 -1.21752415e-04 9.99927816e-01 3.87289676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84028169299995 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:297.64, Y:128.02, Z:3.88 [[ 6.40858213e-01 -7.67619972e-01 -7.76725632e-03 2.97638604e+02] [ 7.67565239e-01 6.40905275e-01 -9.16696330e-03 1.28020177e+02] [ 1.20148197e-02 -8.71522368e-05 9.99927816e-01 3.87687944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90028169299995 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:297.68, Y:128.06, Z:3.88 [[ 6.44415676e-01 -7.64635950e-01 -7.76534026e-03 2.97678164e+02] [ 7.64580979e-01 6.44462461e-01 -9.16858612e-03 1.28061372e+02] [ 1.20151008e-02 -2.88508330e-05 9.99927816e-01 3.87639542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96028169299996 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:297.72, Y:128.10, Z:3.88 [[ 6.53214842e-01 -7.57132815e-01 -7.76342724e-03 2.97715384e+02] [ 7.57077288e-01 6.53260965e-01 -9.17020566e-03 1.28103088e+02] [ 1.20146076e-02 1.12600002e-04 9.99927816e-01 3.87543874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02028169299996 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:297.75, Y:128.15, Z:3.88 [[ 6.61744643e-01 -7.49689128e-01 -7.76141784e-03 2.97751023e+02] [ 7.49633062e-01 6.61790109e-01 -9.17190605e-03 1.28147239e+02] [ 1.20125078e-02 2.51244264e-04 9.99927816e-01 3.87558642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08028169299996 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:297.79, Y:128.19, Z:3.88 [[ 6.63474521e-01 -7.48158640e-01 -7.75946646e-03 2.97785815e+02] [ 7.48102450e-01 6.63519834e-01 -9.17355663e-03 1.28191523e+02] [ 1.20118355e-02 2.81545218e-04 9.99927816e-01 3.87613081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14028169299996 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:297.82, Y:128.24, Z:3.88 [[ 6.60496915e-01 -7.50788684e-01 -7.75743052e-03 2.97823147e+02] [ 7.50732654e-01 6.60542425e-01 -9.17527796e-03 1.28236108e+02] [ 1.20128068e-02 2.36486379e-04 9.99927816e-01 3.87831738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20028169299997 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:297.86, Y:128.28, Z:3.88 [[ 6.55911788e-01 -7.54797706e-01 -7.75565273e-03 2.97858210e+02] [ 7.54741936e-01 6.55957618e-01 -9.17678044e-03 1.28280081e+02] [ 1.20139923e-02 1.65642105e-04 9.99927816e-01 3.87771898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26028169299997 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:297.89, Y:128.33, Z:3.88 [[ 6.53060957e-01 -7.57265653e-01 -7.75356540e-03 2.97892692e+02] [ 7.57210036e-01 6.53106971e-01 -9.17854371e-03 1.28326109e+02] [ 1.20145035e-02 1.23071003e-04 9.99927816e-01 3.87689095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32028169299997 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:297.93, Y:128.37, Z:3.88 [[ 6.50511711e-01 -7.59456664e-01 -7.75171960e-03 2.97930970e+02] [ 7.59401183e-01 6.50557890e-01 -9.18010231e-03 1.28368065e+02] [ 1.20148322e-02 8.50990246e-05 9.99927816e-01 3.88052771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.380281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:297.97, Y:128.41, Z:3.88 [[ 6.46872736e-01 -7.62558590e-01 -7.74983948e-03 2.97969230e+02] [ 7.62503312e-01 6.46919157e-01 -9.18168923e-03 1.28408671e+02] [ 1.20150956e-02 3.01061712e-05 9.99927816e-01 3.88302573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.440281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:298.01, Y:128.45, Z:3.88 [[ 6.44364668e-01 -7.64679113e-01 -7.74787127e-03 2.98007879e+02] [ 7.64623967e-01 6.44411247e-01 -9.18334979e-03 1.28448320e+02] [ 1.20151311e-02 -6.78193139e-06 9.99927816e-01 3.88164726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.500281693 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:298.05, Y:128.49, Z:3.88 [[ 6.45847125e-01 -7.63427464e-01 -7.74578851e-03 2.98047617e+02] [ 7.63372208e-01 6.45893572e-01 -9.18510617e-03 1.28489947e+02] [ 1.20151173e-02 1.92547460e-05 9.99927816e-01 3.88090820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.560281693 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:298.09, Y:128.53, Z:3.88 [[ 6.45049265e-01 -7.64101745e-01 -7.74393981e-03 2.98087158e+02] [ 7.64046518e-01 6.45095747e-01 -9.18666454e-03 1.28530928e+02] [ 1.20151290e-02 9.12095739e-06 9.99927816e-01 3.88382628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.620281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:298.13, Y:128.57, Z:3.89 [[ 6.45483345e-01 -7.63735106e-01 -7.74204816e-03 2.98128046e+02] [ 7.63679833e-01 6.45529773e-01 -9.18825845e-03 1.28570932e+02] [ 1.20151181e-02 1.84217542e-05 9.99927816e-01 3.88536296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.680281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:298.17, Y:128.61, Z:3.89 [[ 6.45915294e-01 -7.63369847e-01 -7.74012865e-03 2.98166220e+02] [ 7.63314529e-01 6.45961668e-01 -9.18987515e-03 1.28613998e+02] [ 1.20151000e-02 2.77282560e-05 9.99927816e-01 3.88948159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.740281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:298.20, Y:128.66, Z:3.89 [[ 6.50617930e-01 -7.59365808e-01 -7.73815886e-03 2.98202147e+02] [ 7.59310184e-01 6.50663937e-01 -9.19153347e-03 1.28656602e+02] [ 1.20146772e-02 1.04513647e-04 9.99927816e-01 3.88729036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.800281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:298.24, Y:128.70, Z:3.89 [[ 6.52911283e-01 -7.57394883e-01 -7.73610129e-03 2.98237636e+02] [ 7.57339101e-01 6.52957097e-01 -9.19326491e-03 1.28701720e+02] [ 1.20142740e-02 1.43534398e-04 9.99927816e-01 3.89221167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.860281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:298.27, Y:128.75, Z:3.90 [[ 6.53254255e-01 -7.57099109e-01 -7.73420330e-03 2.98270449e+02] [ 7.57043287e-01 6.53300020e-01 -9.19486140e-03 1.28748845e+02] [ 1.20141765e-02 1.51455645e-04 9.99927816e-01 3.89507052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92028169299994 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:298.30, Y:128.79, Z:3.89 [[ 6.52842744e-01 -7.57454001e-01 -7.73224845e-03 2.98303584e+02] [ 7.57398184e-01 6.52888516e-01 -9.19650500e-03 1.28794862e+02] [ 1.20142257e-02 1.47480620e-04 9.99927816e-01 3.89340696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:298.34, Y:128.84, Z:3.89 [[ 6.50759333e-01 -7.59244713e-01 -7.73021031e-03 2.98339114e+02] [ 7.59189002e-01 6.50805233e-01 -9.19821785e-03 1.28840258e+02] [ 1.20145596e-02 1.17135458e-04 9.99927816e-01 3.89468622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:298.37, Y:128.89, Z:3.89 [[ 6.49939294e-01 -7.59946832e-01 -7.72828805e-03 2.98374573e+02] [ 7.59891152e-01 6.49985231e-01 -9.19983264e-03 1.28885068e+02] [ 1.20146568e-02 1.06675025e-04 9.99927816e-01 3.89045359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10028169299994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:298.41, Y:128.93, Z:3.89 [[ 6.50209113e-01 -7.59716009e-01 -7.72633038e-03 2.98407979e+02] [ 7.59660292e-01 6.50255006e-01 -9.20147647e-03 1.28930250e+02] [ 1.20145940e-02 1.13497452e-04 9.99927816e-01 3.89073608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16028169299994 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:298.44, Y:128.97, Z:3.89 [[ 6.50416704e-01 -7.59538306e-01 -7.72482233e-03 2.98443688e+02] [ 7.59482562e-01 6.50462564e-01 -9.20274233e-03 1.28974879e+02] [ 1.20145431e-02 1.18749478e-04 9.99927816e-01 3.89211615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22028169299995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:298.48, Y:129.02, Z:3.89 [[ 6.51050230e-01 -7.58995359e-01 -7.72285123e-03 2.98476203e+02] [ 7.58939557e-01 6.51096020e-01 -9.20439616e-03 1.29021986e+02] [ 1.20144117e-02 1.31346949e-04 9.99927816e-01 3.88988093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28028169299995 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:298.51, Y:129.07, Z:3.89 [[ 6.49974785e-01 -7.59916553e-01 -7.72087618e-03 2.98508183e+02] [ 7.59860796e-01 6.50020630e-01 -9.20605258e-03 1.29070211e+02] [ 1.20145605e-02 1.16910919e-04 9.99927816e-01 3.89458955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34028169299995 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:298.54, Y:129.12, Z:3.89 [[ 6.49449770e-01 -7.60365317e-01 -7.71889573e-03 2.98537700e+02] [ 7.60309572e-01 6.49495630e-01 -9.20771281e-03 1.29118772e+02] [ 1.20146145e-02 1.11196660e-04 9.99927816e-01 3.89298679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40028169299995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:298.57, Y:129.17, Z:3.90 [[ 6.49405128e-01 -7.60403465e-01 -7.71682822e-03 2.98567473e+02] [ 7.60347703e-01 6.49450966e-01 -9.20944523e-03 1.29167760e+02] [ 1.20145956e-02 1.13188349e-04 9.99927816e-01 3.89588640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:298.60, Y:129.21, Z:3.90 [[ 6.49119283e-01 -7.60647512e-01 -7.71484523e-03 2.98600377e+02] [ 7.60591747e-01 6.49165118e-01 -9.21110610e-03 1.29214652e+02] [ 1.20146134e-02 1.11258982e-04 9.99927816e-01 3.89659544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52028169299996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:298.63, Y:129.26, Z:3.90 [[ 6.46878675e-01 -7.62553927e-01 -7.71287340e-03 2.98631016e+02] [ 7.62498277e-01 6.46924650e-01 -9.21275691e-03 1.29262049e+02] [ 1.20148719e-02 7.84833088e-05 9.99927816e-01 3.89673526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58028169299996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:298.67, Y:129.31, Z:3.90 [[ 6.40069833e-01 -7.68278044e-01 -7.71081959e-03 2.98667184e+02] [ 7.68222784e-01 6.40116276e-01 -9.21447557e-03 1.29305929e+02] [ 1.20151004e-02 -2.57194607e-05 9.99927816e-01 3.90084217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.70, Y:129.35, Z:3.90 [[ 6.33029814e-01 -7.74089031e-01 -7.70887356e-03 2.98704474e+02] [ 7.74034178e-01 6.33076737e-01 -9.21610334e-03 1.29347528e+02] [ 1.20143930e-02 -1.32863429e-04 9.99927816e-01 3.90196371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70028169299997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:298.75, Y:129.39, Z:3.90 [[ 6.21445029e-01 -7.83419862e-01 -7.70684948e-03 2.98747026e+02] [ 7.83365692e-01 6.21492739e-01 -9.21779563e-03 1.29386035e+02] [ 1.20111552e-02 -3.08928204e-04 9.99927816e-01 3.89636362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.79, Y:129.42, Z:3.90 [[ 6.14275293e-01 -7.89054180e-01 -7.70487587e-03 2.98790648e+02] [ 7.89000427e-01 6.14323471e-01 -9.21944502e-03 1.29423601e+02] [ 1.20079277e-02 -4.15873063e-04 9.99927816e-01 3.89749771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.84, Y:129.46, Z:3.90 [[ 6.14302236e-01 -7.89033224e-01 -7.70289795e-03 2.98837441e+02] [ 7.88979448e-01 6.14350390e-01 -9.22109729e-03 1.29459382e+02] [ 1.20080305e-02 -4.12887496e-04 9.99927816e-01 3.89716308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.880281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.88, Y:129.50, Z:3.90 [[ 6.20307160e-01 -7.84321186e-01 -7.70093965e-03 2.98879374e+02] [ 7.84267025e-01 6.20354878e-01 -9.22273247e-03 1.29497836e+02] [ 1.20108999e-02 -3.18666045e-04 9.99927816e-01 3.89802969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.940281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.92, Y:129.54, Z:3.90 [[ 6.25570461e-01 -7.80129679e-01 -7.69943216e-03 2.98918858e+02] [ 7.80075182e-01 6.25617797e-01 -9.22399079e-03 1.29539182e+02] [ 1.20128108e-02 -2.35879768e-04 9.99927816e-01 3.89945241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.000281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.96, Y:129.58, Z:3.90 [[ 6.31987193e-01 -7.74940601e-01 -7.69757818e-03 2.98955835e+02] [ 7.74885696e-01 6.32034055e-01 -9.22553771e-03 1.29582078e+02] [ 1.20143753e-02 -1.34321553e-04 9.99927816e-01 3.90168465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.060281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.99, Y:129.62, Z:3.90 [[ 6.32840742e-01 -7.74243743e-01 -7.69553361e-03 2.98993978e+02] [ 7.74188767e-01 6.32887519e-01 -9.22724288e-03 1.29624618e+02] [ 1.20145422e-02 -1.18420446e-04 9.99927816e-01 3.90361270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.120281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.03, Y:129.66, Z:3.91 [[ 6.29514275e-01 -7.76950826e-01 -7.69360529e-03 2.99032926e+02] [ 7.76896030e-01 6.29561265e-01 -9.22885042e-03 1.29664974e+02] [ 1.20139588e-02 -1.67438322e-04 9.99927816e-01 3.90660522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.180281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:299.08, Y:129.70, Z:3.90 [[ 6.25218144e-01 -7.80412142e-01 -7.69159440e-03 2.99077051e+02] [ 7.80357586e-01 6.25265411e-01 -9.23052606e-03 1.29701702e+02] [ 1.20129025e-02 -2.31101670e-04 9.99927816e-01 3.90413094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.240281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:299.12, Y:129.74, Z:3.90 [[ 6.28129345e-01 -7.78070945e-01 -7.68960371e-03 2.99120211e+02] [ 7.78016193e-01 6.28176385e-01 -9.23218413e-03 1.29739580e+02] [ 1.20137217e-02 -1.83630434e-04 9.99927816e-01 3.90196976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.300281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:299.16, Y:129.78, Z:3.91 [[ 6.37216341e-01 -7.70646636e-01 -7.68753347e-03 2.99157930e+02] [ 7.70591314e-01 6.37262710e-01 -9.23390767e-03 1.29780918e+02] [ 1.20150583e-02 -3.99496590e-05 9.99927816e-01 3.90506747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.360281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:299.19, Y:129.83, Z:3.91 [[ 6.44772318e-01 -7.64336046e-01 -7.68547408e-03 2.99192242e+02] [ 7.64280250e-01 6.44818116e-01 -9.23562140e-03 1.29826591e+02] [ 1.20148513e-02 8.10169687e-05 9.99927816e-01 3.90736927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42028169299994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:299.22, Y:129.88, Z:3.91 [[ 6.54584811e-01 -7.55949527e-01 -7.68360404e-03 2.99222692e+02] [ 7.55893127e-01 6.54629861e-01 -9.23717692e-03 1.29875462e+02] [ 1.20127562e-02 2.38532219e-04 9.99927816e-01 3.91028707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48028169299994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:299.25, Y:129.92, Z:3.91 [[ 6.58213031e-01 -7.52792533e-01 -7.68168250e-03 2.99250789e+02] [ 7.52735898e-01 6.58257786e-01 -9.23877461e-03 1.29924653e+02] [ 1.20114079e-02 2.98803667e-04 9.99927816e-01 3.91124791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.28, Y:129.97, Z:3.91 [[ 6.58406091e-01 -7.52623700e-01 -7.68021429e-03 2.99281359e+02] [ 7.52567039e-01 6.58450814e-01 -9.23999497e-03 1.29973531e+02] [ 1.20112826e-02 3.03792841e-04 9.99927816e-01 3.91172203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.31, Y:130.02, Z:3.92 [[ 6.55596179e-01 -7.55072641e-01 -7.67828569e-03 2.99311086e+02] [ 7.55016129e-01 6.55641089e-01 -9.24159733e-03 1.30022888e+02] [ 1.20122769e-02 2.61526365e-04 9.99927816e-01 3.91553768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.34, Y:130.07, Z:3.92 [[ 6.51151228e-01 -7.58909185e-01 -7.67637404e-03 2.99343798e+02] [ 7.58852919e-01 6.51196446e-01 -9.24318494e-03 1.30069875e+02] [ 1.20135654e-02 1.93472373e-04 9.99927816e-01 3.91610121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:299.38, Y:130.12, Z:3.92 [[ 6.47797940e-01 -7.61773543e-01 -7.67447042e-03 2.99376410e+02] [ 7.61717458e-01 6.47843383e-01 -9.24476521e-03 1.30117475e+02] [ 1.20142724e-02 1.42961756e-04 9.99927816e-01 3.91660243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78028169299995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:299.41, Y:130.16, Z:3.92 [[ 6.45167518e-01 -7.64002621e-01 -7.67258003e-03 2.99409008e+02] [ 7.63946675e-01 6.45213130e-01 -9.24633386e-03 1.30162779e+02] [ 1.20146727e-02 1.03992268e-04 9.99927816e-01 3.91633092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84028169299995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:299.44, Y:130.21, Z:3.91 [[ 6.43175695e-01 -7.65680212e-01 -7.67059866e-03 2.99442183e+02] [ 7.65624365e-01 6.43221429e-01 -9.24797728e-03 1.30208839e+02] [ 1.20148866e-02 7.52769863e-05 9.99927816e-01 3.91460136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90028169299995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:299.47, Y:130.26, Z:3.91 [[ 6.40626373e-01 -7.67814459e-01 -7.66857344e-03 2.99473827e+02] [ 7.67758744e-01 6.40672268e-01 -9.24965631e-03 1.30256160e+02] [ 1.20150622e-02 3.79594584e-05 9.99927816e-01 3.90860245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96028169299996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:299.51, Y:130.30, Z:3.91 [[ 6.39239745e-01 -7.68969292e-01 -7.66656467e-03 2.99506925e+02] [ 7.68913640e-01 6.39285717e-01 -9.25132099e-03 1.30302821e+02] [ 1.20151070e-02 1.88859289e-05 9.99927816e-01 3.91409579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02028169299996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:299.54, Y:130.35, Z:3.92 [[ 6.37563266e-01 -7.70359874e-01 -7.66459462e-03 2.99540097e+02] [ 7.70304303e-01 6.37609335e-01 -9.25295286e-03 1.30349724e+02] [ 1.20151207e-02 -4.72737316e-06 9.99927816e-01 3.91642840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:299.57, Y:130.40, Z:3.91 [[ 6.33819814e-01 -7.73442775e-01 -7.66263943e-03 2.99573339e+02] [ 7.73387408e-01 6.33866129e-01 -9.25457172e-03 1.30395369e+02] [ 1.20149692e-02 -6.04579171e-05 9.99927816e-01 3.91283428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:299.61, Y:130.44, Z:3.91 [[ 6.30205813e-01 -7.76390333e-01 -7.66059752e-03 2.99609996e+02] [ 7.76335162e-01 6.30252361e-01 -9.25626163e-03 1.30439609e+02] [ 1.20145817e-02 -1.13841333e-04 9.99927816e-01 3.91207292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20028169299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:299.65, Y:130.48, Z:3.92 [[ 6.26516588e-01 -7.79370457e-01 -7.65873738e-03 2.99646627e+02] [ 7.79315488e-01 6.26563375e-01 -9.25780048e-03 1.30483860e+02] [ 1.20139405e-02 -1.68407092e-04 9.99927816e-01 3.91865221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26028169299997 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:299.68, Y:130.53, Z:3.92 [[ 6.26556339e-01 -7.79338520e-01 -7.65679164e-03 2.99684043e+02] [ 7.79283529e-01 6.26603100e-01 -9.25940945e-03 1.30527256e+02] [ 1.20139838e-02 -1.65269926e-04 9.99927816e-01 3.92211036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32028169299997 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:299.72, Y:130.57, Z:3.92 [[ 6.24788751e-01 -7.80756312e-01 -7.65487327e-03 2.99723263e+02] [ 7.80701409e-01 6.24835614e-01 -9.26099512e-03 1.30568006e+02] [ 1.20136178e-02 -1.90004772e-04 9.99927816e-01 3.91984772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.380281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:299.76, Y:130.61, Z:3.92 [[ 6.20188088e-01 -7.84415814e-01 -7.65287255e-03 2.99764402e+02] [ 7.84361166e-01 6.20235250e-01 -9.26264813e-03 1.30606779e+02] [ 1.20123490e-02 -2.58031996e-04 9.99927816e-01 3.91918667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.440281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:299.81, Y:130.65, Z:3.92 [[ 6.16784840e-01 -7.87094610e-01 -7.65089450e-03 2.99805983e+02] [ 7.87040147e-01 6.16832214e-01 -9.26428170e-03 1.30646408e+02] [ 1.20111844e-02 -3.07492628e-04 9.99927816e-01 3.91910714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.500281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:299.85, Y:130.68, Z:3.92 [[ 6.11675409e-01 -7.91071860e-01 -7.64897479e-03 2.99853346e+02] [ 7.91017685e-01 6.11723113e-01 -9.26586642e-03 1.30681139e+02] [ 1.20090208e-02 -3.82771700e-04 9.99927816e-01 3.91953283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.560281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:299.90, Y:130.71, Z:3.92 [[ 6.08841600e-01 -7.93254958e-01 -7.64701722e-03 2.99902576e+02] [ 7.93200934e-01 6.08889474e-01 -9.26748170e-03 1.30713560e+02] [ 1.20076641e-02 -4.23192821e-04 9.99927816e-01 3.92177030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.620281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:299.95, Y:130.75, Z:3.92 [[ 6.07268822e-01 -7.94459648e-01 -7.64498150e-03 2.99953177e+02] [ 7.94405697e-01 6.07316779e-01 -9.26916071e-03 1.30746160e+02] [ 1.20068997e-02 -4.44344556e-04 9.99927816e-01 3.92223734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.680281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:300.00, Y:130.78, Z:3.93 [[ 6.09454164e-01 -7.92784464e-01 -7.64307218e-03 3.00000950e+02] [ 7.92730362e-01 6.09501950e-01 -9.27073481e-03 1.30777969e+02] [ 1.20081619e-02 -4.08807446e-04 9.99927816e-01 3.92609682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.740281693 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:300.04, Y:130.82, Z:3.93 [[ 6.13246769e-01 -7.89854423e-01 -7.64138940e-03 3.00043340e+02] [ 7.89800075e-01 6.13294276e-01 -9.27212164e-03 1.30815974e+02] [ 1.20100467e-02 -3.49071287e-04 9.99927816e-01 3.92754098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.800281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:300.08, Y:130.86, Z:3.92 [[ 6.23330695e-01 -7.81921022e-01 -7.63930983e-03 3.00081146e+02] [ 7.81866049e-01 6.23377476e-01 -9.27383468e-03 1.30856700e+02] [ 1.20135800e-02 -1.92251173e-04 9.99927816e-01 3.92368660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.860281693 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:300.12, Y:130.90, Z:3.93 [[ 6.34421202e-01 -7.72949813e-01 -7.63714769e-03 3.00115853e+02] [ 7.72894156e-01 6.34467168e-01 -9.27561489e-03 1.30901687e+02] [ 1.20151043e-02 -1.80600753e-05 9.99927816e-01 3.92889098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92028169299994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:300.15, Y:130.95, Z:3.93 [[ 6.38881229e-01 -7.69267496e-01 -7.63516890e-03 3.00147445e+02] [ 7.69211555e-01 6.38926848e-01 -9.27724344e-03 1.30947872e+02] [ 1.20149962e-02 5.39965512e-05 9.99927816e-01 3.93110481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98028169299994 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:300.18, Y:130.99, Z:3.93 [[ 6.39858498e-01 -7.68454839e-01 -7.63308839e-03 3.00177748e+02] [ 7.68398819e-01 6.39904021e-01 -9.27895491e-03 1.30994423e+02] [ 1.20149018e-02 7.19620380e-05 9.99927816e-01 3.92759094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04028169299994 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:300.21, Y:131.04, Z:3.93 [[ 6.39316651e-01 -7.68905709e-01 -7.63095721e-03 3.00211405e+02] [ 7.68849700e-01 6.39362187e-01 -9.28070725e-03 1.31039965e+02] [ 1.20149343e-02 6.62515060e-05 9.99927816e-01 3.92831059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:300.25, Y:131.09, Z:3.93 [[ 6.41700166e-01 -7.66917660e-01 -7.62894933e-03 3.00246043e+02] [ 7.66861491e-01 6.41745504e-01 -9.28235748e-03 1.31086090e+02] [ 1.20146478e-02 1.06142879e-04 9.99927816e-01 3.92904232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:300.28, Y:131.13, Z:3.93 [[ 6.44836997e-01 -7.64282067e-01 -7.62695354e-03 3.00279058e+02] [ 7.64225693e-01 6.44882080e-01 -9.28399705e-03 1.31131846e+02] [ 1.20140781e-02 1.57950915e-04 9.99927816e-01 3.92742001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.31, Y:131.18, Z:3.94 [[ 6.46244364e-01 -7.63092442e-01 -7.62541547e-03 3.00314761e+02] [ 7.63035971e-01 6.46289325e-01 -9.28526018e-03 1.31176427e+02] [ 1.20137365e-02 1.82080761e-04 9.99927816e-01 3.93772365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28028169299995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:300.35, Y:131.22, Z:3.94 [[ 6.45525479e-01 -7.63700687e-01 -7.62347536e-03 3.00350037e+02] [ 7.63644239e-01 6.45570469e-01 -9.28685279e-03 1.31221190e+02] [ 1.20138664e-02 1.73277053e-04 9.99927816e-01 3.93802001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34028169299995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:300.39, Y:131.26, Z:3.93 [[ 6.42545303e-01 -7.66209793e-01 -7.62149273e-03 3.00387120e+02] [ 7.66153502e-01 6.42590489e-01 -9.28847960e-03 1.31263718e+02] [ 1.20144228e-02 1.29035596e-04 9.99927816e-01 3.93246124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40028169299995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:300.42, Y:131.31, Z:3.93 [[ 6.38854351e-01 -7.69289973e-01 -7.61942277e-03 3.00424545e+02] [ 7.69233879e-01 6.38899782e-01 -9.29017730e-03 1.31306362e+02] [ 1.20148878e-02 7.39520501e-05 9.99927816e-01 3.93312729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:300.46, Y:131.35, Z:3.94 [[ 6.37776112e-01 -7.70184137e-01 -7.61745443e-03 3.00463937e+02] [ 7.70128088e-01 6.37821598e-01 -9.29179096e-03 1.31348385e+02] [ 1.20149670e-02 5.96666974e-05 9.99927816e-01 3.93599478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:300.50, Y:131.39, Z:3.94 [[ 6.37731044e-01 -7.70221474e-01 -7.61549943e-03 3.00500237e+02] [ 7.70165408e-01 6.37776510e-01 -9.29339298e-03 1.31392906e+02] [ 1.20149575e-02 6.14909853e-05 9.99927816e-01 3.93803237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58028169299996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:300.54, Y:131.44, Z:3.94 [[ 6.37376892e-01 -7.70514589e-01 -7.61355279e-03 3.00536854e+02] [ 7.70458524e-01 6.37422360e-01 -9.29498748e-03 1.31436993e+02] [ 1.20149722e-02 5.84835886e-05 9.99927816e-01 3.93854574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64028169299996 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:300.57, Y:131.48, Z:3.94 [[ 6.36439566e-01 -7.71289014e-01 -7.61153143e-03 3.00571334e+02] [ 7.71232986e-01 6.36485078e-01 -9.29664245e-03 1.31481572e+02] [ 1.20150244e-02 4.64869770e-05 9.99927816e-01 3.94004976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70028169299997 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:300.61, Y:131.52, Z:3.94 [[ 6.36940814e-01 -7.70875144e-01 -7.60997579e-03 3.00609231e+02] [ 7.70819070e-01 6.36986271e-01 -9.29791568e-03 1.31524373e+02] [ 1.20149822e-02 5.63075258e-05 9.99927816e-01 3.94124291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76028169299997 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:300.64, Y:131.57, Z:3.94 [[ 6.36913674e-01 -7.70897587e-01 -7.60799617e-03 3.00642925e+02] [ 7.70841496e-01 6.36959109e-01 -9.29953522e-03 1.31569377e+02] [ 1.20149717e-02 5.84419940e-05 9.99927816e-01 3.94326790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82028169299997 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:300.68, Y:131.61, Z:3.94 [[ 6.35571379e-01 -7.72004640e-01 -7.60647613e-03 3.00677436e+02] [ 7.71948613e-01 6.35616893e-01 -9.30077835e-03 1.31613330e+02] [ 1.20150488e-02 3.94998209e-05 9.99927816e-01 3.94326197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.880281693 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:300.71, Y:131.66, Z:3.94 [[ 6.34596730e-01 -7.72806032e-01 -7.60439334e-03 3.00711899e+02] [ 7.72750043e-01 6.34642289e-01 -9.30248095e-03 1.31658812e+02] [ 1.20150830e-02 2.70287124e-05 9.99927816e-01 3.94358777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.940281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:300.75, Y:131.70, Z:3.95 [[ 6.33640671e-01 -7.73590140e-01 -7.60239797e-03 3.00747666e+02] [ 7.73534187e-01 6.33686275e-01 -9.30411137e-03 1.31703493e+02] [ 1.20151041e-02 1.47486309e-05 9.99927816e-01 3.94523256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.000281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:300.78, Y:131.75, Z:3.94 [[ 6.32532245e-01 -7.74496736e-01 -7.60032253e-03 3.00781897e+02] [ 7.74440828e-01 6.32577905e-01 -9.30580644e-03 1.31748119e+02] [ 1.20151128e-02 2.22563416e-07 9.99927816e-01 3.94334695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.060281693 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:300.82, Y:131.79, Z:3.94 [[ 6.33058135e-01 -7.74066964e-01 -7.59815024e-03 3.00816436e+02] [ 7.74011004e-01 6.33103731e-01 -9.30757977e-03 1.31792875e+02] [ 1.20151073e-02 1.11871956e-05 9.99927816e-01 3.94315919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.120281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:300.85, Y:131.84, Z:3.94 [[ 6.35320874e-01 -7.72210908e-01 -7.59607603e-03 3.00850293e+02] [ 7.72154794e-01 6.35366281e-01 -9.30927226e-03 1.31839387e+02] [ 1.20150122e-02 4.90284582e-05 9.99927816e-01 3.94410756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.180281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:300.89, Y:131.88, Z:3.94 [[ 6.36812470e-01 -7.70981328e-01 -7.59408574e-03 3.00885535e+02] [ 7.70925107e-01 6.36857744e-01 -9.31089556e-03 1.31884567e+02] [ 1.20148789e-02 7.48230290e-05 9.99927816e-01 3.94428612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.240281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:300.92, Y:131.93, Z:3.94 [[ 6.34873348e-01 -7.72578923e-01 -7.59211478e-03 3.00920395e+02] [ 7.72522797e-01 6.34918740e-01 -9.31250241e-03 1.31929482e+02] [ 1.20150190e-02 4.71778389e-05 9.99927816e-01 3.94347781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.300281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:300.96, Y:131.97, Z:3.95 [[ 6.32390289e-01 -7.74612750e-01 -7.59011252e-03 3.00958762e+02] [ 7.74556750e-01 6.32435836e-01 -9.31413406e-03 1.31972101e+02] [ 1.20151062e-02 1.11950410e-05 9.99927816e-01 3.94658064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.360281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:300.99, Y:132.02, Z:3.95 [[ 6.33733905e-01 -7.73513903e-01 -7.58811647e-03 3.00992963e+02] [ 7.73457805e-01 6.33779332e-01 -9.31575993e-03 1.32017203e+02] [ 1.20150612e-02 3.46250158e-05 9.99927816e-01 3.94946158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42028169299994 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:301.03, Y:132.06, Z:3.95 [[ 6.35923091e-01 -7.71715151e-01 -7.58602583e-03 3.01028587e+02] [ 7.71658904e-01 6.35968333e-01 -9.31746207e-03 1.32062331e+02] [ 1.20148989e-02 7.13648970e-05 9.99927816e-01 3.94773855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48028169299994 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:301.06, Y:132.11, Z:3.95 [[ 6.36551342e-01 -7.71197038e-01 -7.58406756e-03 3.01062582e+02] [ 7.71140735e-01 6.36596514e-01 -9.31905576e-03 1.32106940e+02] [ 1.20148192e-02 8.36740181e-05 9.99927816e-01 3.95145528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54028169299994 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:301.10, Y:132.15, Z:3.95 [[ 6.35372563e-01 -7.72168517e-01 -7.58202376e-03 3.01097546e+02] [ 7.72112264e-01 6.35417797e-01 -9.32071831e-03 1.32151144e+02] [ 1.20149181e-02 6.79551630e-05 9.99927816e-01 3.95433144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60028169299994 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:301.13, Y:132.20, Z:3.95 [[ 6.36239732e-01 -7.71454177e-01 -7.58000523e-03 3.01131441e+02] [ 7.71397853e-01 6.36284878e-01 -9.32235957e-03 1.32197590e+02] [ 1.20148159e-02 8.40557993e-05 9.99927816e-01 3.95161916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66028169299994 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:301.17, Y:132.24, Z:3.95 [[ 6.33942199e-01 -7.73343301e-01 -7.57802934e-03 3.01167252e+02] [ 7.73287093e-01 6.33987488e-01 -9.32396547e-03 1.32240892e+02] [ 1.20150020e-02 5.08628927e-05 9.99927816e-01 3.94842632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72028169299995 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:301.21, Y:132.28, Z:3.95 [[ 6.31122073e-01 -7.75646526e-01 -7.57596739e-03 3.01205793e+02] [ 7.75590463e-01 6.31167542e-01 -9.32564056e-03 1.32283870e+02] [ 1.20151054e-02 9.76954381e-06 9.99927816e-01 3.94685828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78028169299995 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:301.24, Y:132.32, Z:3.95 [[ 6.31484446e-01 -7.75351551e-01 -7.57404175e-03 3.01244871e+02] [ 7.75295448e-01 6.31529866e-01 -9.32720426e-03 1.32323982e+02] [ 1.20150959e-02 1.78643240e-05 9.99927816e-01 3.94786167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84028169299995 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:301.28, Y:132.37, Z:3.95 [[ 6.37383291e-01 -7.70509706e-01 -7.57181539e-03 3.01277627e+02] [ 7.70453236e-01 6.37428255e-01 -9.32901127e-03 1.32370009e+02] [ 1.20145828e-02 1.12426236e-04 9.99927816e-01 3.95421440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90028169299995 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:301.31, Y:132.42, Z:3.96 [[ 6.41983433e-01 -7.66681140e-01 -7.56970278e-03 3.01308321e+02] [ 7.66624382e-01 6.42028032e-01 -9.33072515e-03 1.32418204e+02] [ 1.20136524e-02 1.87052253e-04 9.99927816e-01 3.95682447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96028169299996 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:301.34, Y:132.47, Z:3.96 [[ 6.41438124e-01 -7.67137448e-01 -7.56760573e-03 3.01340468e+02] [ 7.67080702e-01 6.41482738e-01 -9.33242563e-03 1.32466184e+02] [ 1.20137416e-02 1.81209279e-04 9.99927816e-01 3.95653364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02028169299996 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:301.37, Y:132.52, Z:3.96 [[ 6.40174444e-01 -7.68192321e-01 -7.56563657e-03 3.01368327e+02] [ 7.68135629e-01 6.40219127e-01 -9.33402173e-03 1.32515660e+02] [ 1.20139891e-02 1.63967163e-04 9.99927816e-01 3.95961656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08028169299996 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:301.40, Y:132.56, Z:3.96 [[ 6.40508198e-01 -7.67914079e-01 -7.56411902e-03 3.01399468e+02] [ 7.67857353e-01 6.40552838e-01 -9.33525136e-03 1.32564475e+02] [ 1.20138889e-02 1.71140620e-04 9.99927816e-01 3.95924326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14028169299996 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:301.43, Y:132.61, Z:3.96 [[ 6.41007100e-01 -7.67497694e-01 -7.56219272e-03 3.01428715e+02] [ 7.67440921e-01 6.41051680e-01 -9.33681153e-03 1.32614667e+02] [ 1.20137377e-02 1.81426339e-04 9.99927816e-01 3.95868709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20028169299997 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:301.46, Y:132.66, Z:3.96 [[ 6.38404130e-01 -7.69664219e-01 -7.56021840e-03 3.01457405e+02] [ 7.69607579e-01 6.38448877e-01 -9.33840991e-03 1.32664915e+02] [ 1.20142529e-02 1.43278075e-04 9.99927816e-01 3.96092948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26028169299997 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:301.49, Y:132.71, Z:3.96 [[ 6.32557758e-01 -7.74476311e-01 -7.55820212e-03 3.01488997e+02] [ 7.74419992e-01 6.32602909e-01 -9.34004154e-03 1.32711412e+02] [ 1.20149816e-02 5.48929058e-05 9.99927816e-01 3.96155600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32028169299997 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:301.52, Y:132.76, Z:3.96 [[ 6.27731110e-01 -7.78393576e-01 -7.55609158e-03 3.01521970e+02] [ 7.78337517e-01 6.27776585e-01 -9.34174865e-03 1.32757999e+02] [ 1.20150945e-02 -1.70833008e-05 9.99927816e-01 3.95952227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.380281693 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:301.56, Y:132.80, Z:3.96 [[ 6.25497088e-01 -7.80189931e-01 -7.55406306e-03 3.01557003e+02] [ 7.80133983e-01 6.25542700e-01 -9.34338870e-03 1.32801339e+02] [ 1.20150068e-02 -4.89188756e-05 9.99927816e-01 3.96068488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.440281693 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:301.59, Y:132.85, Z:3.96 [[ 6.26536066e-01 -7.79355840e-01 -7.55195711e-03 3.01591821e+02] [ 7.79299811e-01 6.26581578e-01 -9.34509056e-03 1.32846286e+02] [ 1.20150681e-02 -3.02024703e-05 9.99927816e-01 3.96414118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.500281693 meters Centerline goodness : 0.999367 with order 1 Centerline is valid? [True, True] Translation: X:301.62, Y:132.89, Z:3.96 [[ 6.30896813e-01 -7.75830013e-01 -7.54998315e-03 3.01624514e+02] [ 7.75773711e-01 6.30941985e-01 -9.34668506e-03 1.32891984e+02] [ 1.20150402e-02 3.97153636e-05 9.99927816e-01 3.96339556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.560281693 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:301.66, Y:132.94, Z:3.96 [[ 6.35415968e-01 -7.72133134e-01 -7.54791948e-03 3.01656297e+02] [ 7.72076549e-01 6.35460786e-01 -9.34835129e-03 1.32940243e+02] [ 1.20145786e-02 1.12520054e-04 9.99927816e-01 3.96356237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.620281693 meters Centerline goodness : 0.999428 with order 1 Centerline is valid? [True, True] Translation: X:301.69, Y:132.99, Z:3.96 [[ 6.35348700e-01 -7.72188505e-01 -7.54593524e-03 3.01688747e+02] [ 7.72131905e-01 6.35393500e-01 -9.34995268e-03 1.32987777e+02] [ 1.20145642e-02 1.14022928e-04 9.99927816e-01 3.96215382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.680281693 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:301.72, Y:133.04, Z:3.96 [[ 6.34057699e-01 -7.73248940e-01 -7.54396133e-03 3.01720921e+02] [ 7.73192396e-01 6.34102569e-01 -9.35154504e-03 1.33035773e+02] [ 1.20147175e-02 9.64855935e-05 9.99927816e-01 3.96476221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.740281693 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:301.75, Y:133.08, Z:3.96 [[ 6.33766662e-01 -7.73487516e-01 -7.54196525e-03 3.01752437e+02] [ 7.73430969e-01 6.33811529e-01 -9.35315459e-03 1.33083222e+02] [ 1.20147328e-02 9.45280691e-05 9.99927816e-01 3.96479211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.800281693 meters Centerline goodness : 0.999366 with order 1 Centerline is valid? [True, True] Translation: X:301.78, Y:133.13, Z:3.96 [[ 6.32493167e-01 -7.74529240e-01 -7.53992634e-03 3.01781104e+02] [ 7.74472748e-01 6.32538102e-01 -9.35479794e-03 1.33131980e+02] [ 1.20148552e-02 7.73783045e-05 9.99927816e-01 3.96499886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.860281693 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:301.82, Y:133.18, Z:3.97 [[ 6.30948486e-01 -7.75788104e-01 -7.53835668e-03 3.01815924e+02] [ 7.75731686e-01 6.30993514e-01 -9.35606266e-03 1.33177076e+02] [ 1.20149763e-02 5.54514302e-05 9.99927816e-01 3.96602405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92028169299994 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:301.85, Y:133.22, Z:3.97 [[ 6.26783342e-01 -7.79157137e-01 -7.53640456e-03 3.01851130e+02] [ 7.79100943e-01 6.26828649e-01 -9.35763484e-03 1.33222232e+02] [ 1.20151023e-02 -6.41026298e-06 9.99927816e-01 3.96719330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98028169299994 meters Centerline goodness : 0.999380 with order 1 Centerline is valid? [True, True] Translation: X:301.89, Y:133.26, Z:3.97 [[ 6.17388200e-01 -7.86622554e-01 -7.53446381e-03 3.01890175e+02] [ 7.86566888e-01 6.17434155e-01 -9.35919721e-03 1.33262366e+02] [ 1.20141909e-02 -1.48101840e-04 9.99927816e-01 3.96684834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04028169299994 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:301.93, Y:133.31, Z:3.97 [[ 6.15629353e-01 -7.87999849e-01 -7.53244153e-03 3.01928848e+02] [ 7.87944266e-01 6.15675409e-01 -9.36082449e-03 1.33305168e+02] [ 1.20138673e-02 -1.72345777e-04 9.99927816e-01 3.96805916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10028169299994 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:301.97, Y:133.35, Z:3.97 [[ 6.16267173e-01 -7.87501151e-01 -7.53056518e-03 3.01967718e+02] [ 7.87445512e-01 6.16313161e-01 -9.36233373e-03 1.33345897e+02] [ 1.20140350e-02 -1.60210818e-04 9.99927816e-01 3.96828468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16028169299994 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:302.01, Y:133.39, Z:3.97 [[ 6.17539421e-01 -7.86503901e-01 -7.52849444e-03 3.02006807e+02] [ 7.86448168e-01 6.17585294e-01 -9.36399857e-03 1.33386272e+02] [ 1.20143088e-02 -1.38132404e-04 9.99927816e-01 3.96811216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22028169299995 meters Centerline goodness : 0.999430 with order 1 Centerline is valid? [True, True] Translation: X:302.05, Y:133.43, Z:3.97 [[ 6.16681830e-01 -7.87176520e-01 -7.52643276e-03 3.02045772e+02] [ 7.87120816e-01 6.16727740e-01 -9.36565537e-03 1.33426188e+02] [ 1.20141839e-02 -1.48582404e-04 9.99927816e-01 3.97373506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28028169299995 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:302.09, Y:133.47, Z:3.98 [[ 6.15009434e-01 -7.88483850e-01 -7.52427988e-03 3.02085109e+02] [ 7.88428223e-01 6.15055436e-01 -9.36738466e-03 1.33465886e+02] [ 1.20138808e-02 -1.71324680e-04 9.99927816e-01 3.97723812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34028169299995 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:302.12, Y:133.51, Z:3.98 [[ 6.13662518e-01 -7.89532598e-01 -7.52266891e-03 3.02123940e+02] [ 7.89477034e-01 6.13708596e-01 -9.36867820e-03 1.33507253e+02] [ 1.20136034e-02 -1.89767685e-04 9.99927816e-01 3.97842515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40028169299995 meters Centerline goodness : 0.999468 with order 1 Centerline is valid? [True, True] Translation: X:302.17, Y:133.55, Z:3.98 [[ 6.12683731e-01 -7.90292405e-01 -7.52067171e-03 3.02165975e+02] [ 7.90236878e-01 6.12729854e-01 -9.37028117e-03 1.33545800e+02] [ 1.20134021e-02 -2.02093304e-04 9.99927816e-01 3.97644694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46028169299996 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:302.21, Y:133.58, Z:3.98 [[ 6.11529559e-01 -7.91185862e-01 -7.51867998e-03 3.02210827e+02] [ 7.91130383e-01 6.11575739e-01 -9.37187906e-03 1.33583117e+02] [ 1.20131405e-02 -2.17075109e-04 9.99927816e-01 3.97614864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52028169299996 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:302.25, Y:133.62, Z:3.97 [[ 6.12950652e-01 -7.90085437e-01 -7.51670284e-03 3.02254130e+02] [ 7.90029856e-01 6.12996709e-01 -9.37346455e-03 1.33621421e+02] [ 1.20135519e-02 -1.92948456e-04 9.99927816e-01 3.97415382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58028169299996 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:302.29, Y:133.66, Z:3.98 [[ 6.17601316e-01 -7.86455430e-01 -7.51472575e-03 3.02293845e+02] [ 7.86399559e-01 6.17647021e-01 -9.37504933e-03 1.33662924e+02] [ 1.20145064e-02 -1.19534207e-04 9.99927816e-01 3.97588978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64028169299996 meters Centerline goodness : 0.999619 with order 1 Centerline is valid? [True, True] Translation: X:302.33, Y:133.71, Z:3.98 [[ 6.20831702e-01 -7.83907875e-01 -7.51272865e-03 3.02330312e+02] [ 7.83851797e-01 6.20877153e-01 -9.37664943e-03 1.33705827e+02] [ 1.20149109e-02 -6.75446257e-05 9.99927816e-01 3.97881098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70028169299997 meters Centerline goodness : 0.999597 with order 1 Centerline is valid? [True, True] Translation: X:302.37, Y:133.75, Z:3.98 [[ 6.25705548e-01 -7.80023178e-01 -7.51063645e-03 3.02367222e+02] [ 7.79966797e-01 6.25750623e-01 -9.37832497e-03 1.33749809e+02] [ 1.20150963e-02 1.00229077e-05 9.99927816e-01 3.97715142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76028169299997 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:302.40, Y:133.80, Z:3.98 [[ 6.28703092e-01 -7.77609183e-01 -7.50863212e-03 3.02398835e+02] [ 7.77552611e-01 6.28747926e-01 -9.37992944e-03 1.33796135e+02] [ 1.20149561e-02 5.88341365e-05 9.99927816e-01 3.97826199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82028169299997 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:302.43, Y:133.84, Z:3.98 [[ 6.28547192e-01 -7.77735224e-01 -7.50653050e-03 3.02432212e+02] [ 7.77678641e-01 6.28592012e-01 -9.38161101e-03 1.33842490e+02] [ 1.20149545e-02 5.91168291e-05 9.99927816e-01 3.98087922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.880281693 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:302.47, Y:133.89, Z:3.98 [[ 6.24089023e-01 -7.81317204e-01 -7.50454062e-03 3.02470495e+02] [ 7.81260858e-01 6.24134142e-01 -9.38320249e-03 1.33885234e+02] [ 1.20150975e-02 -7.05016455e-06 9.99927816e-01 3.97724663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.940281693 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:302.51, Y:133.93, Z:3.98 [[ 6.21457170e-01 -7.83412214e-01 -7.50253998e-03 3.02510023e+02] [ 7.83356001e-01 6.21502454e-01 -9.38480187e-03 1.33926527e+02] [ 1.20150154e-02 -4.49073039e-05 9.99927816e-01 3.97939496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.000281693 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:302.54, Y:133.97, Z:3.98 [[ 6.24570198e-01 -7.80932654e-01 -7.50053537e-03 3.02544579e+02] [ 7.80876242e-01 6.24615234e-01 -9.38640373e-03 1.33970701e+02] [ 1.20150978e-02 5.47816247e-06 9.99927816e-01 3.98084894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.060281693 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:302.58, Y:134.02, Z:3.98 [[ 6.28835383e-01 -7.77502300e-01 -7.49899426e-03 3.02577420e+02] [ 7.77445628e-01 6.28880090e-01 -9.38763479e-03 1.34017053e+02] [ 1.20148758e-02 7.32166138e-05 9.99927816e-01 3.98054515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.120281693 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:302.61, Y:134.06, Z:3.98 [[ 6.32713538e-01 -7.74349646e-01 -7.49697440e-03 3.02607242e+02] [ 7.74292732e-01 6.32757937e-01 -9.38924757e-03 1.34064963e+02] [ 1.20143306e-02 1.35851266e-04 9.99927816e-01 3.98131714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.180281693 meters Centerline goodness : 0.999619 with order 1 Centerline is valid? [True, True] Translation: X:302.64, Y:134.11, Z:3.98 [[ 6.29906898e-01 -7.76634488e-01 -7.49486194e-03 3.02637927e+02] [ 7.76577714e-01 6.29951477e-01 -9.39093351e-03 1.34113462e+02] [ 1.20147222e-02 9.50710374e-05 9.99927816e-01 3.98348142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.240281693 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:302.67, Y:134.16, Z:3.98 [[ 6.24936919e-01 -7.80639293e-01 -7.49281558e-03 3.02668953e+02] [ 7.80582786e-01 6.24981835e-01 -9.39256598e-03 1.34161246e+02] [ 1.20150797e-02 2.09983872e-05 9.99927816e-01 3.98471856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.300281693 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:302.70, Y:134.21, Z:3.99 [[ 6.23594994e-01 -7.81711694e-01 -7.49076163e-03 3.02703153e+02] [ 7.81655244e-01 6.23639982e-01 -9.39420376e-03 1.34205158e+02] [ 1.20150974e-02 2.98531876e-06 9.99927816e-01 3.98588311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.360281693 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:302.74, Y:134.25, Z:3.98 [[ 6.26263506e-01 -7.79575488e-01 -7.48862447e-03 3.02735977e+02] [ 7.79518865e-01 6.26308275e-01 -9.39590709e-03 1.34250934e+02] [ 1.20150063e-02 4.67896625e-05 9.99927816e-01 3.98139607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42028169299994 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:302.77, Y:134.30, Z:3.98 [[ 6.28140445e-01 -7.78063965e-01 -7.48652759e-03 3.02770446e+02] [ 7.78007214e-01 6.28185053e-01 -9.39757756e-03 1.34296309e+02] [ 1.20148412e-02 7.84260717e-05 9.99927816e-01 3.98279778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48028169299994 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:302.81, Y:134.34, Z:3.99 [[ 6.26702326e-01 -7.79222803e-01 -7.48455776e-03 3.02806756e+02] [ 7.79166115e-01 6.26747015e-01 -9.39914614e-03 1.34340555e+02] [ 1.20149532e-02 5.87529568e-05 9.99927816e-01 3.98731591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54028169299994 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:302.85, Y:134.38, Z:3.99 [[ 6.21523652e-01 -7.83359663e-01 -7.48255443e-03 3.02845970e+02] [ 7.83303254e-01 6.21568692e-01 -9.40074070e-03 1.34382259e+02] [ 1.20150826e-02 -1.83265386e-05 9.99927816e-01 3.98686952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60028169299994 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:302.89, Y:134.42, Z:3.99 [[ 6.17067059e-01 -7.86875013e-01 -7.48055944e-03 3.02885247e+02] [ 7.86818842e-01 6.17112394e-01 -9.40232793e-03 1.34424568e+02] [ 1.20148029e-02 -8.39782665e-05 9.99927816e-01 3.98571464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66028169299994 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:302.93, Y:134.47, Z:3.99 [[ 6.14951310e-01 -7.88529618e-01 -7.47854744e-03 3.02925810e+02] [ 7.88473549e-01 6.14996771e-01 -9.40392799e-03 1.34465731e+02] [ 1.20145583e-02 -1.13679004e-04 9.99927816e-01 3.98748262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72028169299995 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:302.97, Y:134.51, Z:3.99 [[ 6.11715116e-01 -7.91042804e-01 -7.47652737e-03 3.02965970e+02] [ 7.90986903e-01 6.11760783e-01 -9.40553376e-03 1.34506705e+02] [ 1.20140260e-02 -1.60328050e-04 9.99927816e-01 3.98630393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78028169299995 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:303.00, Y:134.55, Z:3.99 [[ 6.10137865e-01 -7.92260007e-01 -7.47450181e-03 3.03002884e+02] [ 7.92204176e-01 6.10183619e-01 -9.40714318e-03 1.34549025e+02] [ 1.20137219e-02 -1.81677293e-04 9.99927816e-01 3.98767884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84028169299995 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:303.05, Y:134.59, Z:3.99 [[ 6.05226996e-01 -7.96017868e-01 -7.47238149e-03 3.03046217e+02] [ 7.95962301e-01 6.05273070e-01 -9.40882711e-03 1.34587258e+02] [ 1.20124258e-02 -2.53257796e-04 9.99927816e-01 3.99271352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90028169299995 meters Centerline goodness : 0.999447 with order 1 Centerline is valid? [True, True] Translation: X:303.09, Y:134.63, Z:3.99 [[ 6.04285744e-01 -7.96732661e-01 -7.47038044e-03 3.03086883e+02] [ 7.96677129e-01 6.04331860e-01 -9.41041563e-03 1.34627900e+02] [ 1.20121744e-02 -2.64901231e-04 9.99927816e-01 3.99320457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96028169299996 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:303.13, Y:134.67, Z:3.99 [[ 6.07302976e-01 -7.94435220e-01 -7.46840579e-03 3.03126776e+02] [ 7.94379494e-01 6.07348857e-01 -9.41198252e-03 1.34667703e+02] [ 1.20131381e-02 -2.16823420e-04 9.99927816e-01 3.98749421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02028169299996 meters Centerline goodness : 0.999382 with order 1 Centerline is valid? [True, True] Translation: X:303.16, Y:134.71, Z:3.99 [[ 6.14667785e-01 -7.88750765e-01 -7.46622689e-03 3.03163263e+02] [ 7.88694593e-01 6.14713121e-01 -9.41371065e-03 1.34709157e+02] [ 1.20146591e-02 -1.02268103e-04 9.99927816e-01 3.98737986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08028169299996 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:303.20, Y:134.75, Z:3.99 [[ 6.19157913e-01 -7.85231029e-01 -7.46395551e-03 3.03203345e+02] [ 7.85174578e-01 6.19202900e-01 -9.41551124e-03 1.34750645e+02] [ 1.20150545e-02 -3.08198239e-05 9.99927816e-01 3.99308910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14028169299996 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:303.24, Y:134.79, Z:3.99 [[ 6.18996315e-01 -7.85358441e-01 -7.46201335e-03 3.03241772e+02] [ 7.85301981e-01 6.19041290e-01 -9.41705019e-03 1.34791226e+02] [ 1.20150542e-02 -3.08145019e-05 9.99927816e-01 3.99270378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20028169299997 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:303.29, Y:134.83, Z:4.00 [[ 6.16738856e-01 -7.87132476e-01 -7.45976402e-03 3.03285249e+02] [ 7.87076124e-01 6.16783966e-01 -9.41883168e-03 1.34829215e+02] [ 1.20149311e-02 -6.24426783e-05 9.99927816e-01 3.99682778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26028169299997 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:303.33, Y:134.87, Z:4.00 [[ 6.16872126e-01 -7.87028057e-01 -7.45771800e-03 3.03327686e+02] [ 7.86971677e-01 6.16917202e-01 -9.42045141e-03 1.34867844e+02] [ 1.20149541e-02 -5.77989543e-05 9.99927816e-01 3.99560093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32028169299997 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:303.37, Y:134.91, Z:4.00 [[ 6.21400034e-01 -7.83457984e-01 -7.45557958e-03 3.03367418e+02] [ 7.83401325e-01 6.21444758e-01 -9.42214351e-03 1.34906656e+02] [ 1.20150844e-02 1.42093789e-05 9.99927816e-01 3.99504594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.380281693 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:303.41, Y:134.95, Z:4.00 [[ 6.25544561e-01 -7.80152839e-01 -7.45325591e-03 3.03407540e+02] [ 7.80095922e-01 6.25588956e-01 -9.42398125e-03 1.34946747e+02] [ 1.20148203e-02 8.08656755e-05 9.99927816e-01 3.99553526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.440281693 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:303.45, Y:134.99, Z:4.00 [[ 6.26799259e-01 -7.79145154e-01 -7.45102130e-03 3.03445180e+02] [ 7.79088145e-01 6.26843536e-01 -9.42574771e-03 1.34989794e+02] [ 1.20146502e-02 1.03049323e-04 9.99927816e-01 3.99548311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.500281693 meters Centerline goodness : 0.999388 with order 1 Centerline is valid? [True, True] Translation: X:303.48, Y:135.03, Z:4.00 [[ 6.28467994e-01 -7.77799777e-01 -7.44900134e-03 3.03484424e+02] [ 7.77742654e-01 6.28512124e-01 -9.42734377e-03 1.35030187e+02] [ 1.20143735e-02 1.31377756e-04 9.99927816e-01 3.99818540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.560281693 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:303.52, Y:135.07, Z:4.00 [[ 6.30604008e-01 -7.76069023e-01 -7.44689479e-03 3.03521278e+02] [ 7.76011760e-01 6.30647955e-01 -9.42900749e-03 1.35073526e+02] [ 1.20139296e-02 1.67091984e-04 9.99927816e-01 3.99712537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.620281693 meters Centerline goodness : 0.999380 with order 1 Centerline is valid? [True, True] Translation: X:303.56, Y:135.12, Z:3.99 [[ 6.33208382e-01 -7.73945553e-01 -7.44482372e-03 3.03556798e+02] [ 7.73888123e-01 6.33252111e-01 -9.43064246e-03 1.35116176e+02] [ 1.20132541e-02 2.10101210e-04 9.99927816e-01 3.99462597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.680281693 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:303.59, Y:135.16, Z:4.00 [[ 6.35282370e-01 -7.72244080e-01 -7.44255693e-03 3.03590817e+02] [ 7.72186511e-01 6.35325917e-01 -9.43243105e-03 1.35159880e+02] [ 1.20125883e-02 2.45215081e-04 9.99927816e-01 3.99821672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.740281693 meters Centerline goodness : 0.999280 with order 1 Centerline is valid? [True, True] Translation: X:303.63, Y:135.20, Z:4.00 [[ 6.34866741e-01 -7.72585823e-01 -7.44085072e-03 3.03625237e+02] [ 7.72528262e-01 6.34910299e-01 -9.43377681e-03 1.35204526e+02] [ 1.20126750e-02 2.40923670e-04 9.99927816e-01 4.00022007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.800281693 meters Centerline goodness : 0.999448 with order 1 Centerline is valid? [True, True] Translation: X:303.66, Y:135.25, Z:4.00 [[ 6.32887759e-01 -7.74207820e-01 -7.43876102e-03 3.03659741e+02] [ 7.74150352e-01 6.32931438e-01 -9.43542430e-03 1.35249135e+02] [ 1.20132050e-02 2.12845085e-04 9.99927816e-01 3.99921874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.860281693 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:303.70, Y:135.29, Z:4.00 [[ 6.31006226e-01 -7.75742121e-01 -7.43666741e-03 3.03695275e+02] [ 7.75684739e-01 6.31050019e-01 -9.43707412e-03 1.35291408e+02] [ 1.20136450e-02 1.86343102e-04 9.99927816e-01 4.00274417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92028169299994 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:303.73, Y:135.34, Z:4.01 [[ 6.30863941e-01 -7.75857858e-01 -7.43449162e-03 3.03730697e+02] [ 7.75800464e-01 6.30907718e-01 -9.43878789e-03 1.35335053e+02] [ 1.20136359e-02 1.86908881e-04 9.99927816e-01 4.00637792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98028169299994 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:303.77, Y:135.38, Z:4.00 [[ 6.29976365e-01 -7.76578740e-01 -7.43240471e-03 3.03765968e+02] [ 7.76521376e-01 6.30020182e-01 -9.44043091e-03 1.35378140e+02] [ 1.20138029e-02 1.75827215e-04 9.99927816e-01 4.00124302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04028169299994 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:303.80, Y:135.42, Z:4.00 [[ 6.29271816e-01 -7.77149775e-01 -7.43023360e-03 3.03802756e+02] [ 7.77092431e-01 6.29315659e-01 -9.44213940e-03 1.35420671e+02] [ 1.20139189e-02 1.67693917e-04 9.99927816e-01 4.00278088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10028169299994 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:303.84, Y:135.46, Z:4.01 [[ 6.29542390e-01 -7.76930629e-01 -7.42805118e-03 3.03838417e+02] [ 7.76873250e-01 6.29586187e-01 -9.44385598e-03 1.35462392e+02] [ 1.20138194e-02 1.74653399e-04 9.99927816e-01 4.00515778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16028169299994 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:303.87, Y:135.50, Z:4.01 [[ 6.31659232e-01 -7.75210598e-01 -7.42578645e-03 3.03874291e+02] [ 7.75153079e-01 6.31702845e-01 -9.44563642e-03 1.35504502e+02] [ 1.20132479e-02 2.10302223e-04 9.99927816e-01 4.00562037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22028169299995 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:303.91, Y:135.55, Z:4.01 [[ 6.34841773e-01 -7.72606505e-01 -7.42368886e-03 3.03908073e+02] [ 7.72548788e-01 6.34885123e-01 -9.44728471e-03 1.35548529e+02] [ 1.20122232e-02 2.62369145e-04 9.99927816e-01 4.00872884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28028169299995 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:303.94, Y:135.59, Z:4.01 [[ 6.37416995e-01 -7.70483286e-01 -7.42161637e-03 3.03940880e+02] [ 7.70425405e-01 6.37460126e-01 -9.44891254e-03 1.35594269e+02] [ 1.20112137e-02 3.05095634e-04 9.99927816e-01 4.00845637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34028169299995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:303.97, Y:135.64, Z:4.01 [[ 6.37596117e-01 -7.70335085e-01 -7.41949823e-03 3.03972849e+02] [ 7.70277175e-01 6.37639209e-01 -9.45057546e-03 1.35639887e+02] [ 1.20110728e-02 3.10580074e-04 9.99927816e-01 4.01293068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40028169299995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:304.00, Y:135.69, Z:4.01 [[ 6.37420579e-01 -7.70480363e-01 -7.41729638e-03 3.04002844e+02] [ 7.70422442e-01 6.37463657e-01 -9.45230327e-03 1.35687362e+02] [ 1.20110709e-02 3.10641037e-04 9.99927816e-01 4.01488697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46028169299996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:304.03, Y:135.74, Z:4.01 [[ 6.37356674e-01 -7.70533247e-01 -7.41522152e-03 3.04030196e+02] [ 7.70475311e-01 6.37399732e-01 -9.45393069e-03 1.35737220e+02] [ 1.20110281e-02 3.12280719e-04 9.99927816e-01 4.01210973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52028169299996 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:304.06, Y:135.79, Z:4.02 [[ 6.37753439e-01 -7.70204905e-01 -7.41315913e-03 3.04055330e+02] [ 7.70146929e-01 6.37796442e-01 -9.45554761e-03 1.35788629e+02] [ 1.20107957e-02 3.21086265e-04 9.99927816e-01 4.01588305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58028169299996 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:304.08, Y:135.84, Z:4.01 [[ 6.35373279e-01 -7.72169588e-01 -7.41110836e-03 3.04081405e+02] [ 7.72111725e-01 6.35416435e-01 -9.45715470e-03 1.35838430e+02] [ 1.20116673e-02 2.86619729e-04 9.99927816e-01 4.01275663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64028169299996 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:304.11, Y:135.89, Z:4.01 [[ 6.34644789e-01 -7.72768464e-01 -7.40897234e-03 3.04113120e+02] [ 7.72710623e-01 6.34687974e-01 -9.45882781e-03 1.35885461e+02] [ 1.20118695e-02 2.78004151e-04 9.99927816e-01 4.01211098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70028169299997 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:304.14, Y:135.94, Z:4.01 [[ 6.35114691e-01 -7.72382332e-01 -7.40694568e-03 3.04135536e+02] [ 7.72324446e-01 6.35157816e-01 -9.46041456e-03 1.35937815e+02] [ 1.20116365e-02 2.87883053e-04 9.99927816e-01 4.01111891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76028169299997 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:304.16, Y:135.99, Z:4.01 [[ 6.34884423e-01 -7.72571635e-01 -7.40534242e-03 3.04161150e+02] [ 7.72513747e-01 6.34927545e-01 -9.46166939e-03 1.35989921e+02] [ 1.20116733e-02 2.86337685e-04 9.99927816e-01 4.00933747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82028169299997 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:304.19, Y:136.04, Z:4.01 [[ 6.29763001e-01 -7.76752054e-01 -7.40336123e-03 3.04188440e+02] [ 7.76694434e-01 6.29806481e-01 -9.46321933e-03 1.36039964e+02] [ 1.20132599e-02 2.09435939e-04 9.99927816e-01 4.00924292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.880281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:304.22, Y:136.09, Z:4.01 [[ 6.23640572e-01 -7.81676185e-01 -7.40125290e-03 3.04219581e+02] [ 7.81618889e-01 6.23684478e-01 -9.46486799e-03 1.36085780e+02] [ 1.20145084e-02 1.17716620e-04 9.99927816e-01 4.01133040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.940281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:304.25, Y:136.13, Z:4.01 [[ 6.15557141e-01 -7.88057523e-01 -7.39906151e-03 3.04253306e+02] [ 7.88000662e-01 6.15601608e-01 -9.46658077e-03 1.36129541e+02] [ 1.20150844e-02 -3.24396807e-06 9.99927816e-01 4.01335517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.000281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:304.28, Y:136.17, Z:4.02 [[ 6.11926244e-01 -7.90880242e-01 -7.39688764e-03 3.04284681e+02] [ 7.90823566e-01 6.11970946e-01 -9.46827906e-03 1.36174997e+02] [ 1.20149552e-02 -5.57446164e-05 9.99927816e-01 4.01550094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.060281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:304.32, Y:136.22, Z:4.01 [[ 6.09923824e-01 -7.92425547e-01 -7.39472564e-03 3.04319754e+02] [ 7.92368963e-01 6.09968643e-01 -9.46996728e-03 1.36218531e+02] [ 1.20147948e-02 -8.33924359e-05 9.99927816e-01 4.01470424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.120281693 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:304.35, Y:136.26, Z:4.02 [[ 6.07840089e-01 -7.94025047e-01 -7.39268896e-03 3.04354170e+02] [ 7.93968562e-01 6.07885032e-01 -9.47155694e-03 1.36262474e+02] [ 1.20145584e-02 -1.12370612e-04 9.99927816e-01 4.01598320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.180281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:304.39, Y:136.31, Z:4.02 [[ 6.05690543e-01 -7.95665977e-01 -7.39050401e-03 3.04391217e+02] [ 7.95609593e-01 6.05735613e-01 -9.47326152e-03 1.36305632e+02] [ 1.20142434e-02 -1.42090967e-04 9.99927816e-01 4.01689135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.240281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:304.43, Y:136.35, Z:4.02 [[ 6.05197321e-01 -7.96041213e-01 -7.38848782e-03 3.04428658e+02] [ 7.95984838e-01 6.05242402e-01 -9.47483374e-03 1.36348568e+02] [ 1.20141843e-02 -1.46980287e-04 9.99927816e-01 4.01809251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.300281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:304.47, Y:136.39, Z:4.02 [[ 6.05406175e-01 -7.95882406e-01 -7.38647273e-03 3.04466311e+02] [ 7.95826000e-01 6.05451217e-01 -9.47640442e-03 1.36390463e+02] [ 1.20142525e-02 -1.41273299e-04 9.99927816e-01 4.01648425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.360281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:304.51, Y:136.43, Z:4.02 [[ 6.05193539e-01 -7.96044128e-01 -7.38424027e-03 3.04505454e+02] [ 7.95987713e-01 6.05238570e-01 -9.47814369e-03 1.36429495e+02] [ 1.20142476e-02 -1.41653206e-04 9.99927816e-01 4.01674309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:304.55, Y:136.47, Z:4.02 [[ 6.06035360e-01 -7.95403446e-01 -7.38247235e-03 3.04546852e+02] [ 7.95346966e-01 6.06080310e-01 -9.47952051e-03 1.36469586e+02] [ 1.20144144e-02 -1.26702366e-04 9.99927816e-01 4.01872955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48028169299994 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:304.59, Y:136.51, Z:4.02 [[ 6.08144647e-01 -7.93791924e-01 -7.38039478e-03 3.04588973e+02] [ 7.93735305e-01 6.08189422e-01 -9.48113775e-03 1.36508397e+02] [ 1.20147286e-02 -9.21767381e-05 9.99927816e-01 4.01747883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54028169299994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:304.63, Y:136.55, Z:4.02 [[ 6.11551015e-01 -7.91170600e-01 -7.37821955e-03 3.04626023e+02] [ 7.91113769e-01 6.11595520e-01 -9.48283022e-03 1.36551349e+02] [ 1.20150225e-02 -3.77766295e-05 9.99927816e-01 4.02176567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:304.66, Y:136.60, Z:4.03 [[ 6.19326338e-01 -7.85099027e-01 -7.37602660e-03 3.04662701e+02] [ 7.85041739e-01 6.19370254e-01 -9.48453565e-03 1.36595538e+02] [ 1.20147912e-02 8.35339777e-05 9.99927816e-01 4.02600080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66028169299994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:304.70, Y:136.64, Z:4.03 [[ 6.23518851e-01 -7.81773539e-01 -7.37399071e-03 3.04696856e+02] [ 7.81715999e-01 6.23562435e-01 -9.48611824e-03 1.36641051e+02] [ 1.20141398e-02 1.50407028e-04 9.99927816e-01 4.02539469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72028169299995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:304.73, Y:136.69, Z:4.03 [[ 6.26123602e-01 -7.79688969e-01 -7.37198158e-03 3.04729953e+02] [ 7.79631265e-01 6.26166970e-01 -9.48767934e-03 1.36686302e+02] [ 1.20135303e-02 1.93032636e-04 9.99927816e-01 4.02507290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78028169299995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:304.76, Y:136.73, Z:4.02 [[ 6.26175529e-01 -7.79647281e-01 -7.37043906e-03 3.04761894e+02] [ 7.79589560e-01 6.26218874e-01 -9.48887749e-03 1.36732071e+02] [ 1.20134856e-02 1.95785544e-04 9.99927816e-01 4.02248244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84028169299995 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:304.79, Y:136.78, Z:4.02 [[ 6.26029317e-01 -7.79764706e-01 -7.36869859e-03 3.04792925e+02] [ 7.79706977e-01 6.26072652e-01 -9.49022888e-03 1.36779171e+02] [ 1.20134862e-02 1.95735807e-04 9.99927816e-01 4.02482157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90028169299995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:304.82, Y:136.83, Z:4.03 [[ 6.25312997e-01 -7.80339279e-01 -7.36655874e-03 3.04824003e+02] [ 7.80281570e-01 6.25356358e-01 -9.49188959e-03 1.36826837e+02] [ 1.20136186e-02 1.87411899e-04 9.99927816e-01 4.02747494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96028169299996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:304.85, Y:136.87, Z:4.03 [[ 6.26810023e-01 -7.79137319e-01 -7.36440966e-03 3.04852808e+02] [ 7.79079507e-01 6.26853247e-01 -9.49355670e-03 1.36874505e+02] [ 1.20131884e-02 2.13195838e-04 9.99927816e-01 4.02851826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02028169299996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:304.88, Y:136.92, Z:4.03 [[ 6.28557530e-01 -7.77728249e-01 -7.36217547e-03 3.04881067e+02] [ 7.77670321e-01 6.28600597e-01 -9.49528897e-03 1.36923731e+02] [ 1.20126224e-02 2.42990015e-04 9.99927816e-01 4.02562060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08028169299996 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:304.91, Y:136.97, Z:4.03 [[ 6.28891421e-01 -7.77458301e-01 -7.36006142e-03 3.04906775e+02] [ 7.77400335e-01 6.28934438e-01 -9.49692735e-03 1.36973288e+02] [ 1.20124611e-02 2.50821922e-04 9.99927816e-01 4.02536794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14028169299996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:304.93, Y:137.02, Z:4.03 [[ 6.25576193e-01 -7.80128374e-01 -7.35838975e-03 3.04934705e+02] [ 7.80070577e-01 6.25619436e-01 -9.49822241e-03 1.37022194e+02] [ 1.20133845e-02 2.01798486e-04 9.99927816e-01 4.03052694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20028169299997 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:304.96, Y:137.07, Z:4.03 [[ 6.23660101e-01 -7.81661030e-01 -7.35621407e-03 3.04964920e+02] [ 7.81603319e-01 6.23703459e-01 -9.49990714e-03 1.37069516e+02] [ 1.20138034e-02 1.75071712e-04 9.99927816e-01 4.02990620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26028169299997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:304.99, Y:137.12, Z:4.03 [[ 6.23046948e-01 -7.82149868e-01 -7.35414683e-03 3.04994686e+02] [ 7.82092172e-01 6.23090327e-01 -9.50150719e-03 1.37118722e+02] [ 1.20139003e-02 1.68264389e-04 9.99927816e-01 4.03051748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32028169299997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:305.02, Y:137.17, Z:4.03 [[ 6.23672274e-01 -7.81651355e-01 -7.35213408e-03 3.05024253e+02] [ 7.81593606e-01 6.23715581e-01 -9.50306437e-03 1.37168032e+02] [ 1.20137237e-02 1.80416766e-04 9.99927816e-01 4.03058072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.380281693 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:305.06, Y:137.21, Z:4.03 [[ 6.23205905e-01 -7.82023258e-01 -7.35012208e-03 3.05055408e+02] [ 7.81965516e-01 6.23249223e-01 -9.50462029e-03 1.37214932e+02] [ 1.20137920e-02 1.75793489e-04 9.99927816e-01 4.02849976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.440281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:305.09, Y:137.26, Z:4.03 [[ 6.21289985e-01 -7.83546273e-01 -7.34802019e-03 3.05086648e+02] [ 7.83488618e-01 6.21333418e-01 -9.50624498e-03 1.37263339e+02] [ 1.20141533e-02 1.49044614e-04 9.99927816e-01 4.03095558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.500281693 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:305.12, Y:137.31, Z:4.03 [[ 6.22905294e-01 -7.82262764e-01 -7.34597068e-03 3.05116382e+02] [ 7.82205001e-01 6.22948583e-01 -9.50782848e-03 1.37312667e+02] [ 1.20137822e-02 1.76421688e-04 9.99927816e-01 4.03224102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.560281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:305.15, Y:137.36, Z:4.03 [[ 6.23393059e-01 -7.81874133e-01 -7.34392233e-03 3.05148823e+02] [ 7.81816325e-01 6.23436288e-01 -9.50941038e-03 1.37359046e+02] [ 1.20136297e-02 1.86502059e-04 9.99927816e-01 4.03261649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.620281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:305.18, Y:137.41, Z:4.03 [[ 6.23265685e-01 -7.81975693e-01 -7.34178207e-03 3.05179861e+02] [ 7.81917872e-01 6.23308897e-01 -9.51106249e-03 1.37406892e+02] [ 1.20136178e-02 1.87248263e-04 9.99927816e-01 4.03438227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.680281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:305.21, Y:137.45, Z:4.03 [[ 6.20764743e-01 -7.83962539e-01 -7.33975123e-03 3.05214953e+02] [ 7.83904838e-01 6.20808114e-01 -9.51262945e-03 1.37451136e+02] [ 1.20141223e-02 1.51438474e-04 9.99927816e-01 4.03466660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.740281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:305.25, Y:137.49, Z:4.03 [[ 6.14277413e-01 -7.89056030e-01 -7.33762679e-03 3.05253743e+02] [ 7.88998670e-01 6.14321233e-01 -9.51426786e-03 1.37493909e+02] [ 1.20149504e-02 5.50220670e-05 9.99927816e-01 4.03420524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.800281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:305.29, Y:137.53, Z:4.04 [[ 6.09325246e-01 -7.92886457e-01 -7.33560554e-03 3.05293137e+02] [ 7.92829353e-01 6.09369401e-01 -9.51582602e-03 1.37534464e+02] [ 1.20150631e-02 -1.76503559e-05 9.99927816e-01 4.03863194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.860281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:305.33, Y:137.58, Z:4.04 [[ 6.08628500e-01 -7.93421432e-01 -7.33349251e-03 3.05331361e+02] [ 7.93364347e-01 6.08672679e-01 -9.51745417e-03 1.37576922e+02] [ 1.20150487e-02 -2.55376514e-05 9.99927816e-01 4.04151657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92028169299994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:305.37, Y:137.62, Z:4.04 [[ 6.10156535e-01 -7.92246964e-01 -7.33147820e-03 3.05369591e+02] [ 7.92189776e-01 6.10200580e-01 -9.51900558e-03 1.37617447e+02] [ 1.20150755e-02 1.61386465e-07 9.99927816e-01 4.04166826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98028169299994 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:305.41, Y:137.66, Z:4.04 [[ 6.10263215e-01 -7.92164814e-01 -7.32914412e-03 3.05406097e+02] [ 7.92107598e-01 6.10307224e-01 -9.52080236e-03 1.37659877e+02] [ 1.20150742e-02 4.72472304e-06 9.99927816e-01 4.03980558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04028169299994 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:305.44, Y:137.70, Z:4.04 [[ 6.11932999e-01 -7.90875667e-01 -7.32697575e-03 3.05441250e+02] [ 7.90818338e-01 6.11976861e-01 -9.52247079e-03 1.37703464e+02] [ 1.20150301e-02 3.28073223e-05 9.99927816e-01 4.03752469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:305.47, Y:137.75, Z:4.04 [[ 6.14581364e-01 -7.88819431e-01 -7.32478909e-03 3.05474608e+02] [ 7.88761936e-01 6.14625007e-01 -9.52415250e-03 1.37750373e+02] [ 1.20148351e-02 7.58518079e-05 9.99927816e-01 4.03863552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16028169299994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:305.50, Y:137.80, Z:4.04 [[ 6.19474309e-01 -7.84982776e-01 -7.32275288e-03 3.05503857e+02] [ 7.84924992e-01 6.19517569e-01 -9.52571780e-03 1.37798553e+02] [ 1.20140985e-02 1.53125704e-04 9.99927816e-01 4.03847264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22028169299995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:305.53, Y:137.85, Z:4.04 [[ 6.21654029e-01 -7.83257734e-01 -7.32062245e-03 3.05531133e+02] [ 7.83199810e-01 6.21697102e-01 -9.52735478e-03 1.37848417e+02] [ 1.20135841e-02 1.89208369e-04 9.99927816e-01 4.03708339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28028169299995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:305.56, Y:137.90, Z:4.04 [[ 6.18940437e-01 -7.85403829e-01 -7.31846829e-03 3.05560336e+02] [ 7.85346036e-01 6.18983685e-01 -9.52900922e-03 1.37898613e+02] [ 1.20141328e-02 1.50359076e-04 9.99927816e-01 4.03876753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:305.59, Y:137.95, Z:4.04 [[ 6.16278761e-01 -7.87494101e-01 -7.31642063e-03 3.05590932e+02] [ 7.87436435e-01 6.16322179e-01 -9.53058117e-03 1.37945973e+02] [ 1.20145488e-02 1.12278574e-04 9.99927816e-01 4.03792674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40028169299995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:305.62, Y:137.99, Z:4.04 [[ 6.12302946e-01 -7.90589403e-01 -7.31428758e-03 3.05620072e+02] [ 7.90531937e-01 6.12346628e-01 -9.53221791e-03 1.37993247e+02] [ 1.20149498e-02 5.44271782e-05 9.99927816e-01 4.04135054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46028169299996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:305.65, Y:138.04, Z:4.04 [[ 6.11449334e-01 -7.91249800e-01 -7.31209903e-03 3.05653498e+02] [ 7.91192361e-01 6.11493052e-01 -9.53389643e-03 1.38039724e+02] [ 1.20149914e-02 4.42177220e-05 9.99927816e-01 4.04332543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52028169299996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:305.68, Y:138.09, Z:4.05 [[ 6.11722588e-01 -7.91038582e-01 -7.31010911e-03 3.05683981e+02] [ 7.90981110e-01 6.11766262e-01 -9.53542195e-03 1.38085436e+02] [ 1.20149648e-02 5.08747788e-05 9.99927816e-01 4.04772371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58028169299996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:305.72, Y:138.13, Z:4.05 [[ 6.12160074e-01 -7.90700095e-01 -7.30781040e-03 3.05715656e+02] [ 7.90642578e-01 6.12203689e-01 -9.53718333e-03 1.38130840e+02] [ 1.20149202e-02 6.04168023e-05 9.99927816e-01 4.05218280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64028169299996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:305.75, Y:138.18, Z:4.05 [[ 6.09333257e-01 -7.92880578e-01 -7.30555548e-03 3.05749109e+02] [ 7.92823196e-01 6.09377050e-01 -9.53891030e-03 1.38175962e+02] [ 1.20150546e-02 2.03614448e-05 9.99927816e-01 4.05202042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70028169299997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:305.78, Y:138.22, Z:4.05 [[ 6.06030744e-01 -7.95407693e-01 -7.30342227e-03 3.05783691e+02] [ 7.95350474e-01 6.06074749e-01 -9.54054330e-03 1.38220319e+02] [ 1.20150414e-02 -2.69178050e-05 9.99927816e-01 4.04832493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76028169299997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:305.82, Y:138.26, Z:4.05 [[ 6.01815208e-01 -7.98601995e-01 -7.30128870e-03 3.05820621e+02] [ 7.98544990e-01 6.01859490e-01 -9.54217583e-03 1.38263453e+02] [ 1.20147505e-02 -8.77809832e-05 9.99927816e-01 4.04829233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82028169299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:305.86, Y:138.31, Z:4.05 [[ 5.97274026e-01 -8.02004027e-01 -7.29917641e-03 3.05859664e+02] [ 8.01947255e-01 5.97318605e-01 -9.54379132e-03 1.38305792e+02] [ 1.20140930e-02 -1.53295823e-04 9.99927816e-01 4.04838893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.880281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.90, Y:138.35, Z:4.05 [[ 5.94974358e-01 -8.03711555e-01 -7.29717343e-03 3.05895909e+02] [ 8.03654892e-01 5.95019077e-01 -9.54532255e-03 1.38350053e+02] [ 1.20136434e-02 -1.85186965e-04 9.99927816e-01 4.04959577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.940281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.94, Y:138.39, Z:4.05 [[ 5.91710768e-01 -8.06117329e-01 -7.29514702e-03 3.05936194e+02] [ 8.06060828e-01 5.91755692e-01 -9.54687102e-03 1.38391458e+02] [ 1.20128429e-02 -2.31345867e-04 9.99927816e-01 4.04949282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.000281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:305.98, Y:138.43, Z:4.06 [[ 5.88681200e-01 -8.08332392e-01 -7.29308687e-03 3.05977835e+02] [ 8.08276041e-01 5.88726311e-01 -9.54844456e-03 1.38431673e+02] [ 1.20119492e-02 -2.73837581e-04 9.99927816e-01 4.05562454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.060281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:306.02, Y:138.47, Z:4.06 [[ 5.88291745e-01 -8.08615894e-01 -7.29098835e-03 3.06017312e+02] [ 8.08559545e-01 5.88336859e-01 -9.55004667e-03 1.38472727e+02] [ 1.20118767e-02 -2.76984594e-04 9.99927816e-01 4.05650601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.120281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.06, Y:138.51, Z:4.06 [[ 5.89297510e-01 -8.07883233e-01 -7.28880736e-03 3.06059182e+02] [ 8.07826807e-01 5.89342528e-01 -9.55171096e-03 1.38509928e+02] [ 1.20122713e-02 -2.59294492e-04 9.99927816e-01 4.05669410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.180281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.10, Y:138.55, Z:4.06 [[ 5.89591887e-01 -8.07668443e-01 -7.28648435e-03 3.06100957e+02] [ 8.07611979e-01 5.89636856e-01 -9.55348273e-03 1.38549440e+02] [ 1.20124263e-02 -2.51996143e-04 9.99927816e-01 4.05601640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.240281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.14, Y:138.59, Z:4.05 [[ 5.90520052e-01 -8.06990092e-01 -7.28422637e-03 3.06143716e+02] [ 8.06933555e-01 5.90564930e-01 -9.55520406e-03 1.38586242e+02] [ 1.20127636e-02 -2.35347087e-04 9.99927816e-01 4.05152401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.300281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.18, Y:138.63, Z:4.06 [[ 5.95099643e-01 -8.03618928e-01 -7.28243612e-03 3.06184591e+02] [ 8.03562120e-01 5.95144177e-01 -9.55656829e-03 1.38626281e+02] [ 1.20139386e-02 -1.64779426e-04 9.99927816e-01 4.05694999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.360281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.22, Y:138.67, Z:4.05 [[ 6.02180541e-01 -7.98326747e-01 -7.28018436e-03 3.06220785e+02] [ 7.98269527e-01 6.02224544e-01 -9.55828338e-03 1.38667810e+02] [ 1.20149390e-02 -5.57370701e-05 9.99927816e-01 4.05442317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.26, Y:138.71, Z:4.05 [[ 6.06312368e-01 -7.95193270e-01 -7.27839831e-03 3.06256480e+02] [ 7.95135806e-01 6.06356053e-01 -9.55964321e-03 1.38712108e+02] [ 1.20150648e-02 8.81480022e-06 9.99927816e-01 4.05192862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.29, Y:138.76, Z:4.05 [[ 6.07509178e-01 -7.94279330e-01 -7.27633427e-03 3.06290916e+02] [ 7.94221781e-01 6.07552751e-01 -9.56121400e-03 1.38756994e+02] [ 1.20150316e-02 2.95020927e-05 9.99927816e-01 4.05392462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.32, Y:138.80, Z:4.06 [[ 6.08389033e-01 -7.93605615e-01 -7.27408429e-03 3.06324675e+02] [ 7.93547998e-01 6.08432515e-01 -9.56292546e-03 1.38803239e+02] [ 1.20149807e-02 4.56439515e-05 9.99927816e-01 4.05694821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.36, Y:138.85, Z:4.06 [[ 6.09381495e-01 -7.92843813e-01 -7.27201309e-03 3.06358383e+02] [ 7.92786122e-01 6.09424880e-01 -9.56450022e-03 1.38849741e+02] [ 1.20149005e-02 6.32783860e-05 9.99927816e-01 4.06026273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.39, Y:138.90, Z:4.06 [[ 6.12817797e-01 -7.90190797e-01 -7.26988160e-03 3.06389361e+02] [ 7.90132900e-01 6.12860906e-01 -9.56612007e-03 1.38896557e+02] [ 1.20144863e-02 1.18115991e-04 9.99927816e-01 4.06474322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.42, Y:138.94, Z:4.07 [[ 6.15507575e-01 -7.88097455e-01 -7.26824349e-03 3.06421091e+02] [ 7.88039396e-01 6.15550466e-01 -9.56736452e-03 1.38942262e+02] [ 1.20139863e-02 1.61123126e-04 9.99927816e-01 4.06656534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.45, Y:138.99, Z:4.06 [[ 6.18062440e-01 -7.86095430e-01 -7.26605965e-03 3.06453112e+02] [ 7.86037213e-01 6.18105116e-01 -9.56902278e-03 1.38989723e+02] [ 1.20133537e-02 2.02860293e-04 9.99927816e-01 4.06415290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.48, Y:139.04, Z:4.06 [[ 6.18133178e-01 -7.86039826e-01 -7.26401236e-03 3.06484594e+02] [ 7.85981587e-01 6.18175824e-01 -9.57057666e-03 1.39037545e+02] [ 1.20132912e-02 2.06511007e-04 9.99927816e-01 4.06134797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.52, Y:139.08, Z:4.06 [[ 6.17225800e-01 -7.86752551e-01 -7.26194598e-03 3.06516707e+02] [ 7.86694343e-01 6.17268487e-01 -9.57214433e-03 1.39084045e+02] [ 1.20134794e-02 1.95242623e-04 9.99927816e-01 4.06406153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.55, Y:139.13, Z:4.06 [[ 6.16724853e-01 -7.87145318e-01 -7.25978770e-03 3.06546933e+02] [ 7.87087117e-01 6.16767552e-01 -9.57378096e-03 1.39132482e+02] [ 1.20135583e-02 1.90303284e-04 9.99927816e-01 4.06305746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.58, Y:139.18, Z:4.07 [[ 6.18425693e-01 -7.85809765e-01 -7.25777198e-03 3.06575705e+02] [ 7.85751455e-01 6.18468241e-01 -9.57530881e-03 1.39182332e+02] [ 1.20130726e-02 2.18812091e-04 9.99927817e-01 4.06514228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.60, Y:139.23, Z:4.06 [[ 6.20016313e-01 -7.84555368e-01 -7.25575233e-03 3.06604624e+02] [ 7.84496953e-01 6.20058718e-01 -9.57683897e-03 1.39231665e+02] [ 1.20125529e-02 2.45680794e-04 9.99927817e-01 4.06347225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.63, Y:139.28, Z:4.06 [[ 6.21175943e-01 -7.83637563e-01 -7.25374027e-03 3.06630765e+02] [ 7.83579068e-01 6.21218238e-01 -9.57836271e-03 1.39282015e+02] [ 1.20121206e-02 2.65969454e-04 9.99927817e-01 4.06238140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.66, Y:139.33, Z:4.07 [[ 6.17551594e-01 -7.86496943e-01 -7.25163814e-03 3.06656089e+02] [ 7.86438626e-01 6.17594132e-01 -9.57995393e-03 1.39333830e+02] [ 1.20131737e-02 2.13147489e-04 9.99927817e-01 4.06761386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.69, Y:139.38, Z:4.07 [[ 6.13436732e-01 -7.89710593e-01 -7.24955807e-03 3.06686264e+02] [ 7.89652479e-01 6.13479549e-01 -9.58152775e-03 1.39380881e+02] [ 1.20140896e-02 1.53029569e-04 9.99927817e-01 4.06759169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.72, Y:139.43, Z:4.07 [[ 6.07571382e-01 -7.94232015e-01 -7.24727344e-03 3.06716117e+02] [ 7.94174199e-01 6.07614600e-01 -9.58325549e-03 1.39428077e+02] [ 1.20148775e-02 6.69141990e-05 9.99927817e-01 4.06627714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.380281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.75, Y:139.47, Z:4.07 [[ 6.01716293e-01 -7.98677039e-01 -7.24501040e-03 3.06750726e+02] [ 7.98619522e-01 6.01759908e-01 -9.58496606e-03 1.39472056e+02] [ 1.20150491e-02 -1.85765005e-05 9.99927817e-01 4.07324420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.440281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.79, Y:139.51, Z:4.07 [[ 5.98911165e-01 -8.00782716e-01 -7.24284844e-03 3.06785482e+02] [ 8.00725332e-01 5.98954956e-01 -9.58659946e-03 1.39514833e+02] [ 1.20149231e-02 -5.80107688e-05 9.99927817e-01 4.07185403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.500281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.82, Y:139.56, Z:4.07 [[ 5.98471771e-01 -8.01111174e-01 -7.24060690e-03 3.06822908e+02] [ 8.01053794e-01 5.98515566e-01 -9.58829216e-03 1.39557848e+02] [ 1.20149039e-02 -6.17934421e-05 9.99927817e-01 4.06902682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.560281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.86, Y:139.60, Z:4.07 [[ 6.01494813e-01 -7.98843910e-01 -7.23857467e-03 3.06856702e+02] [ 7.98786347e-01 6.01538367e-01 -9.58982612e-03 1.39601476e+02] [ 1.20150546e-02 -1.38439476e-05 9.99927817e-01 4.06729353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.620281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:306.89, Y:139.65, Z:4.07 [[ 6.03781868e-01 -7.97116737e-01 -7.23623486e-03 3.06889522e+02] [ 7.97059028e-01 6.03825229e-01 -9.59159136e-03 1.39645909e+02] [ 1.20150392e-02 2.35226224e-05 9.99927817e-01 4.06683929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.680281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.92, Y:139.69, Z:4.07 [[ 6.05372112e-01 -7.95909716e-01 -7.23395024e-03 3.06922164e+02] [ 7.95851900e-01 6.05415330e-01 -9.59331411e-03 1.39692251e+02] [ 1.20149563e-02 5.03717885e-05 9.99927817e-01 4.07025409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.740281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.95, Y:139.74, Z:4.07 [[ 6.06966841e-01 -7.94694253e-01 -7.23173371e-03 3.06951680e+02] [ 7.94636331e-01 6.07009916e-01 -9.59498470e-03 1.39738678e+02] [ 1.20148133e-02 7.72392141e-05 9.99927817e-01 4.07194913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.800281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.98, Y:139.79, Z:4.07 [[ 6.07046819e-01 -7.94633183e-01 -7.22943232e-03 3.06983314e+02] [ 7.94575235e-01 6.07089860e-01 -9.59671839e-03 1.39786207e+02] [ 1.20147859e-02 8.13294845e-05 9.99927817e-01 4.07101281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.860281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.02, Y:139.83, Z:4.07 [[ 6.06559197e-01 -7.95005476e-01 -7.22736975e-03 3.07015944e+02] [ 7.94947536e-01 6.06602249e-01 -9.59827148e-03 1.39833000e+02] [ 1.20148171e-02 7.65400678e-05 9.99927817e-01 4.07024843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.05, Y:139.88, Z:4.07 [[ 6.04139229e-01 -7.96846024e-01 -7.22530607e-03 3.07048221e+02] [ 7.96788198e-01 6.04182432e-01 -9.59982471e-03 1.39878346e+02] [ 1.20149851e-02 4.25921005e-05 9.99927817e-01 4.07459178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.08, Y:139.92, Z:4.08 [[ 6.03286643e-01 -7.97491725e-01 -7.22315171e-03 3.07082963e+02] [ 7.97433925e-01 6.03329882e-01 -9.60144543e-03 1.39924308e+02] [ 1.20150166e-02 3.24375624e-05 9.99927817e-01 4.07637928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.12, Y:139.97, Z:4.07 [[ 6.04118286e-01 -7.96861940e-01 -7.22112798e-03 3.07116672e+02] [ 7.96804077e-01 6.04161440e-01 -9.60296721e-03 1.39969939e+02] [ 1.20149662e-02 4.75038746e-05 9.99927817e-01 4.07355517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.15, Y:140.01, Z:4.07 [[ 6.01941344e-01 -7.98507674e-01 -7.21889898e-03 3.07150518e+02] [ 7.98449909e-01 6.01984629e-01 -9.60464254e-03 1.40014052e+02] [ 1.20150470e-02 1.75022066e-05 9.99927817e-01 4.07494351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.19, Y:140.06, Z:4.08 [[ 5.98612262e-01 -8.01006417e-01 -7.21658272e-03 3.07186178e+02] [ 8.00948812e-01 5.98655759e-01 -9.60638258e-03 1.40057451e+02] [ 1.20150229e-02 -2.96149480e-05 9.99927817e-01 4.07540379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.23, Y:140.10, Z:4.07 [[ 5.92597261e-01 -8.05466597e-01 -7.21440088e-03 3.07225453e+02] [ 8.05409299e-01 5.92641162e-01 -9.60802086e-03 1.40098480e+02] [ 1.20144908e-02 -1.16858716e-04 9.99927817e-01 4.07440872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.27, Y:140.14, Z:4.07 [[ 5.88026508e-01 -8.08809501e-01 -7.21224270e-03 3.07265438e+02] [ 8.08752433e-01 5.88070708e-01 -9.60964062e-03 1.40138364e+02] [ 1.20136773e-02 -1.82195415e-04 9.99927817e-01 4.07459050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.30, Y:140.18, Z:4.08 [[ 5.86813359e-01 -8.09690124e-01 -7.21010721e-03 3.07304269e+02] [ 8.09633102e-01 5.86857619e-01 -9.61124261e-03 1.40177881e+02] [ 1.20134346e-02 -1.97535911e-04 9.99927817e-01 4.07719937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.34, Y:140.22, Z:4.08 [[ 5.86843475e-01 -8.09668316e-01 -7.20789009e-03 3.07340470e+02] [ 8.09611272e-01 5.86887707e-01 -9.61290504e-03 1.40221507e+02] [ 1.20134867e-02 -1.94318467e-04 9.99927817e-01 4.07876424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.38, Y:140.26, Z:4.08 [[ 5.87347088e-01 -8.09303081e-01 -7.20565283e-03 3.07381261e+02] [ 8.09245989e-01 5.87391257e-01 -9.61458175e-03 1.40260603e+02] [ 1.20136481e-02 -1.84049060e-04 9.99927817e-01 4.07690148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.42, Y:140.30, Z:4.08 [[ 5.87676829e-01 -8.09063691e-01 -7.20332967e-03 3.07419520e+02] [ 8.09006560e-01 5.87720948e-01 -9.61632197e-03 1.40302708e+02] [ 1.20137647e-02 -1.76251347e-04 9.99927817e-01 4.07842330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.46, Y:140.34, Z:4.08 [[ 5.88657455e-01 -8.08350507e-01 -7.20126492e-03 3.07459406e+02] [ 8.08293304e-01 5.88701480e-01 -9.61786793e-03 1.40342542e+02] [ 1.20140037e-02 -1.59104554e-04 9.99927817e-01 4.08353941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.50, Y:140.38, Z:4.08 [[ 5.90247945e-01 -8.07189901e-01 -7.19905943e-03 3.07497230e+02] [ 8.07132591e-01 5.90291831e-01 -9.61951848e-03 1.40384186e+02] [ 1.20143241e-02 -1.32694477e-04 9.99927817e-01 4.08199131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70028169299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:307.54, Y:140.42, Z:4.08 [[ 5.91523609e-01 -8.06255559e-01 -7.19677520e-03 3.07539180e+02] [ 8.06198158e-01 5.91567377e-01 -9.62122710e-03 1.40423194e+02] [ 1.20145453e-02 -1.10843931e-04 9.99927817e-01 4.07906754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.58, Y:140.46, Z:4.08 [[ 5.91473443e-01 -8.06292382e-01 -7.19450659e-03 3.07578882e+02] [ 8.06234963e-01 5.91517188e-01 -9.62292321e-03 1.40462186e+02] [ 1.20145640e-02 -1.08759231e-04 9.99927817e-01 4.07920489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.62, Y:140.50, Z:4.08 [[ 5.92821244e-01 -8.05301959e-01 -7.19214614e-03 3.07619964e+02] [ 8.05244446e-01 5.92864864e-01 -9.62468708e-03 1.40500310e+02] [ 1.20147501e-02 -8.57167612e-05 9.99927817e-01 4.08062085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.880281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.66, Y:140.54, Z:4.08 [[ 5.94640259e-01 -8.03959743e-01 -7.18982665e-03 3.07658979e+02] [ 8.03902111e-01 5.94683721e-01 -9.62641947e-03 1.40541292e+02] [ 1.20149266e-02 -5.56602512e-05 9.99927817e-01 4.08493814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.940281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:307.70, Y:140.58, Z:4.09 [[ 5.97508606e-01 -8.01830285e-01 -7.18750836e-03 3.07696848e+02] [ 8.01772476e-01 5.97551834e-01 -9.62815010e-03 1.40581605e+02] [ 1.20150511e-02 -9.84383527e-06 9.99927817e-01 4.08779925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.000281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:307.74, Y:140.62, Z:4.08 [[ 5.98834762e-01 -8.00840372e-01 -7.18510293e-03 3.07737078e+02] [ 8.00782471e-01 5.98877866e-01 -9.62994484e-03 1.40620202e+02] [ 1.20150477e-02 1.30412516e-05 9.99927817e-01 4.08260915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.060281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:307.77, Y:140.66, Z:4.08 [[ 6.01555130e-01 -7.98798994e-01 -7.18282412e-03 3.07774490e+02] [ 7.98740926e-01 6.01598009e-01 -9.63164427e-03 1.40662666e+02] [ 1.20149204e-02 5.67494280e-05 9.99927817e-01 4.08368425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.120281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.81, Y:140.71, Z:4.09 [[ 6.06010910e-01 -7.95423922e-01 -7.18053615e-03 3.07808269e+02] [ 7.95365596e-01 6.06053436e-01 -9.63334968e-03 1.40707060e+02] [ 1.20143854e-02 1.26763600e-04 9.99927817e-01 4.08894823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.180281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:307.84, Y:140.75, Z:4.09 [[ 6.13507447e-01 -7.89656309e-01 -7.17812016e-03 3.07838134e+02] [ 7.89597562e-01 6.13549390e-01 -9.63514958e-03 1.40753470e+02] [ 1.20125879e-02 2.43409838e-04 9.99927817e-01 4.09176803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.240281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.87, Y:140.80, Z:4.09 [[ 6.16284910e-01 -7.87490583e-01 -7.17573804e-03 3.07869906e+02] [ 7.87431668e-01 6.16326617e-01 -9.63692333e-03 1.40800381e+02] [ 1.20115847e-02 2.88687062e-04 9.99927817e-01 4.09164832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.300281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:307.90, Y:140.85, Z:4.09 [[ 6.15262458e-01 -7.88289698e-01 -7.17350074e-03 3.07900592e+02] [ 7.88230818e-01 6.15304214e-01 -9.63858843e-03 1.40847354e+02] [ 1.20118852e-02 2.75887259e-04 9.99927817e-01 4.09207837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.360281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:307.93, Y:140.89, Z:4.09 [[ 6.14279722e-01 -7.89055762e-01 -7.17126191e-03 3.07931521e+02] [ 7.88996915e-01 6.14321524e-01 -9.64025387e-03 1.40894147e+02] [ 1.20121584e-02 2.63708953e-04 9.99927817e-01 4.09069501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42028169299994 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:307.96, Y:140.94, Z:4.10 [[ 6.15060563e-01 -7.88447277e-01 -7.16902582e-03 3.07961024e+02] [ 7.88388369e-01 6.15102279e-01 -9.64191646e-03 1.40942630e+02] [ 1.20118269e-02 2.78385997e-04 9.99927817e-01 4.09593707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:307.99, Y:140.99, Z:4.10 [[ 6.16119278e-01 -7.87620259e-01 -7.16678381e-03 3.07991798e+02] [ 7.87561275e-01 6.16160887e-01 -9.64358265e-03 1.40988330e+02] [ 1.20113729e-02 2.97315779e-04 9.99927817e-01 4.09819656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54028169299994 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:308.02, Y:141.04, Z:4.10 [[ 6.14159684e-01 -7.89149254e-01 -7.16500876e-03 3.08023402e+02] [ 7.89090358e-01 6.14201418e-01 -9.64490130e-03 1.41035072e+02] [ 1.20120252e-02 2.69670208e-04 9.99927817e-01 4.09531498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60028169299994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:308.06, Y:141.08, Z:4.10 [[ 6.10683305e-01 -7.91842532e-01 -7.16284817e-03 3.08055698e+02] [ 7.91783801e-01 6.10725271e-01 -9.64650561e-03 1.41081306e+02] [ 1.20130458e-02 2.19532777e-04 9.99927817e-01 4.10023329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66028169299994 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:308.08, Y:141.13, Z:4.10 [[ 6.10980014e-01 -7.91613635e-01 -7.16068653e-03 3.08084984e+02] [ 7.91554870e-01 6.11021932e-01 -9.64810995e-03 1.41129963e+02] [ 1.20129119e-02 2.26726061e-04 9.99927817e-01 4.09941293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72028169299995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:308.11, Y:141.18, Z:4.10 [[ 6.12020732e-01 -7.90809319e-01 -7.15852676e-03 3.08114650e+02] [ 7.90750480e-01 6.12062546e-01 -9.64971215e-03 1.41177864e+02] [ 1.20125484e-02 2.45215423e-04 9.99927817e-01 4.09914108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78028169299995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:308.14, Y:141.23, Z:4.10 [[ 6.11577850e-01 -7.91151894e-01 -7.15637910e-03 3.08140014e+02] [ 7.91093060e-01 6.11619671e-01 -9.65130462e-03 1.41228717e+02] [ 1.20126302e-02 2.41162286e-04 9.99927817e-01 4.09978663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84028169299995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:308.17, Y:141.28, Z:4.10 [[ 6.08538811e-01 -7.93491861e-01 -7.15416909e-03 3.08167226e+02] [ 7.93433169e-01 6.08580831e-01 -9.65294255e-03 1.41278381e+02] [ 1.20134215e-02 1.97835125e-04 9.99927817e-01 4.09783452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90028169299995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:308.20, Y:141.33, Z:4.10 [[ 6.05488623e-01 -7.95821825e-01 -7.15193370e-03 3.08196772e+02] [ 7.95763275e-01 6.05530841e-01 -9.65459848e-03 1.41326990e+02] [ 1.20140566e-02 1.54503362e-04 9.99927817e-01 4.09758277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96028169299996 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:308.23, Y:141.37, Z:4.10 [[ 6.01423227e-01 -7.98898607e-01 -7.14967797e-03 3.08226121e+02] [ 7.98840253e-01 6.01465716e-01 -9.65626867e-03 1.41374490e+02] [ 1.20146658e-02 9.60537115e-05 9.99927817e-01 4.09817653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02028169299996 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:308.26, Y:141.42, Z:4.10 [[ 5.98500650e-01 -8.01090436e-01 -7.14733857e-03 3.08258292e+02] [ 8.01032217e-01 5.98543323e-01 -9.65799992e-03 1.41420348e+02] [ 1.20149232e-02 5.50707738e-05 9.99927817e-01 4.09975099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08028169299996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:308.29, Y:141.47, Z:4.10 [[ 5.97597995e-01 -8.01764046e-01 -7.14505099e-03 3.08290545e+02] [ 8.01705855e-01 5.97640706e-01 -9.65969199e-03 1.41466168e+02] [ 1.20149670e-02 4.43833490e-05 9.99927817e-01 4.10069430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14028169299996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:308.32, Y:141.51, Z:4.10 [[ 5.98117070e-01 -8.01376910e-01 -7.14276672e-03 3.08322627e+02] [ 8.01318671e-01 5.98159715e-01 -9.66138078e-03 1.41513840e+02] [ 1.20149228e-02 5.50044193e-05 9.99927817e-01 4.10081316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20028169299997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:308.36, Y:141.56, Z:4.10 [[ 5.98561611e-01 -8.01044948e-01 -7.14068418e-03 3.08355545e+02] [ 8.00986667e-01 5.98604200e-01 -9.66291973e-03 1.41559721e+02] [ 1.20148766e-02 6.42599820e-05 9.99927817e-01 4.10445097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26028169299997 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:308.39, Y:141.60, Z:4.11 [[ 5.98299267e-01 -8.01240931e-01 -7.13839043e-03 3.08388752e+02] [ 8.01182644e-01 5.98341847e-01 -9.66461392e-03 1.41604391e+02] [ 1.20148820e-02 6.31769092e-05 9.99927817e-01 4.10545013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32028169299997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:308.42, Y:141.65, Z:4.10 [[ 5.97303612e-01 -8.01983461e-01 -7.13600913e-03 3.08423338e+02] [ 8.01925206e-01 5.97346235e-01 -9.66637187e-03 1.41648823e+02] [ 1.20149386e-02 5.12132360e-05 9.99927817e-01 4.10088254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.380281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:308.46, Y:141.69, Z:4.10 [[ 5.98274576e-01 -8.01259410e-01 -7.13371126e-03 3.08457973e+02] [ 8.01201083e-01 5.98317101e-01 -9.66806738e-03 1.41691801e+02] [ 1.20148514e-02 6.86217275e-05 9.99927817e-01 4.10170927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.440281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:308.49, Y:141.74, Z:4.10 [[ 5.99488317e-01 -8.00351737e-01 -7.13131977e-03 3.08493150e+02] [ 8.00293324e-01 5.99530725e-01 -9.66983106e-03 1.41735857e+02] [ 1.20147114e-02 8.98031479e-05 9.99927817e-01 4.10079385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.500281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:308.53, Y:141.78, Z:4.11 [[ 6.02967528e-01 -7.97733875e-01 -7.12910624e-03 3.08527079e+02] [ 7.97675259e-01 6.03009654e-01 -9.67146271e-03 1.41779905e+02] [ 1.20141733e-02 1.44866294e-04 9.99927817e-01 4.10510143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.560281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:308.56, Y:141.82, Z:4.10 [[ 6.06937154e-01 -7.94717869e-01 -7.12735378e-03 3.08560215e+02] [ 7.94659029e-01 6.06978966e-01 -9.67275401e-03 1.41823747e+02] [ 1.20132643e-02 2.06937753e-04 9.99927817e-01 4.10325681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.620281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:308.60, Y:141.87, Z:4.10 [[ 6.08597047e-01 -7.93447452e-01 -7.12562943e-03 3.08595315e+02] [ 7.93388510e-01 6.08638715e-01 -9.67402412e-03 1.41868156e+02] [ 1.20127637e-02 2.34189997e-04 9.99927817e-01 4.10414238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.680281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:308.63, Y:141.91, Z:4.11 [[ 6.08438508e-01 -7.93569051e-01 -7.12345270e-03 3.08631489e+02] [ 7.93510098e-01 6.08480161e-01 -9.67562669e-03 1.41912981e+02] [ 1.20127575e-02 2.34492216e-04 9.99927817e-01 4.10724116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.740281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:308.67, Y:141.96, Z:4.11 [[ 6.06746729e-01 -7.94863317e-01 -7.12136057e-03 3.08668814e+02] [ 7.94804435e-01 6.06788482e-01 -9.67716628e-03 1.41955632e+02] [ 1.20131841e-02 2.11500024e-04 9.99927817e-01 4.10617736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.800281693 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:308.71, Y:142.00, Z:4.11 [[ 6.05748221e-01 -7.95624536e-01 -7.11974422e-03 3.08708128e+02] [ 7.95565692e-01 6.05790028e-01 -9.67835531e-03 1.41996988e+02] [ 1.20134070e-02 1.98422268e-04 9.99927817e-01 4.11314904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.860281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:308.74, Y:142.04, Z:4.12 [[ 6.08045340e-01 -7.93870397e-01 -7.11747154e-03 3.08743041e+02] [ 7.93811413e-01 6.08086949e-01 -9.68002636e-03 1.42039619e+02] [ 1.20127279e-02 2.35964776e-04 9.99927817e-01 4.11519051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:308.78, Y:142.08, Z:4.11 [[ 6.11105749e-01 -7.91516985e-01 -7.11511853e-03 3.08776522e+02] [ 7.91457821e-01 6.11147102e-01 -9.68175559e-03 1.42084909e+02] [ 1.20116581e-02 2.85260293e-04 9.99927817e-01 4.11060609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:308.81, Y:142.13, Z:4.11 [[ 6.12334731e-01 -7.90566622e-01 -7.11285157e-03 3.08812096e+02] [ 7.90507375e-01 6.12375964e-01 -9.68342076e-03 1.42128509e+02] [ 1.20111286e-02 3.06733224e-04 9.99927817e-01 4.10779076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04028169299994 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:308.85, Y:142.17, Z:4.11 [[ 6.10285770e-01 -7.92149429e-01 -7.11060432e-03 3.08848400e+02] [ 7.92090270e-01 6.10327129e-01 -9.68507065e-03 1.42170211e+02] [ 1.20118179e-02 2.78420308e-04 9.99927817e-01 4.11164311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:308.88, Y:142.22, Z:4.12 [[ 6.12151029e-01 -7.90708917e-01 -7.10826662e-03 3.08879982e+02] [ 7.90649640e-01 6.12192219e-01 -9.68678608e-03 1.42216004e+02] [ 1.20110536e-02 3.09627619e-04 9.99927817e-01 4.11581205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16028169299994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:308.91, Y:142.26, Z:4.12 [[ 6.14646289e-01 -7.88770844e-01 -7.10596447e-03 3.08910992e+02] [ 7.88711418e-01 6.14687264e-01 -9.68847458e-03 1.42263038e+02] [ 1.20099321e-02 3.50429640e-04 9.99927817e-01 4.11648220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.94, Y:142.31, Z:4.11 [[ 6.19045202e-01 -7.85323229e-01 -7.10378970e-03 3.08939610e+02] [ 7.85263557e-01 6.19085817e-01 -9.69006890e-03 1.42311418e+02] [ 1.20076917e-02 4.20243490e-04 9.99927817e-01 4.11276096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28028169299995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:308.97, Y:142.36, Z:4.11 [[ 6.20284591e-01 -7.84344691e-01 -7.10158855e-03 3.08969024e+02] [ 7.84284936e-01 6.20325085e-01 -9.69168180e-03 1.42358207e+02] [ 1.20069127e-02 4.41931958e-04 9.99927817e-01 4.11033982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34028169299995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:309.00, Y:142.41, Z:4.12 [[ 6.19456230e-01 -7.84999090e-01 -7.09985196e-03 3.08996913e+02] [ 7.84939363e-01 6.19496766e-01 -9.69295381e-03 1.42408626e+02] [ 1.20072952e-02 4.31407357e-04 9.99927817e-01 4.11553766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40028169299995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:309.03, Y:142.46, Z:4.12 [[ 6.15272555e-01 -7.88282503e-01 -7.09783137e-03 3.09027186e+02] [ 7.88222975e-01 6.15313383e-01 -9.69443319e-03 1.42457790e+02] [ 1.20093427e-02 3.70044916e-04 9.99927817e-01 4.11847782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:309.06, Y:142.50, Z:4.12 [[ 6.10275345e-01 -7.92157594e-01 -7.09574933e-03 3.09059945e+02] [ 7.92098309e-01 6.10316523e-01 -9.69595688e-03 1.42503826e+02] [ 1.20113789e-02 2.96672388e-04 9.99927817e-01 4.11730344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52028169299996 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:309.09, Y:142.55, Z:4.12 [[ 6.07299061e-01 -7.94441648e-01 -7.09356710e-03 3.09093239e+02] [ 7.94382499e-01 6.07340435e-01 -9.69755314e-03 1.42548667e+02] [ 1.20123502e-02 2.54309359e-04 9.99927817e-01 4.11714951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:309.13, Y:142.59, Z:4.12 [[ 6.03922305e-01 -7.97011645e-01 -7.09138014e-03 3.09127286e+02] [ 7.96952653e-01 6.03963903e-01 -9.69915210e-03 1.42593536e+02] [ 1.20132748e-02 2.06040080e-04 9.99927817e-01 4.11760916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.16, Y:142.64, Z:4.12 [[ 6.03074764e-01 -7.97653166e-01 -7.08911637e-03 3.09161589e+02] [ 7.97594199e-01 6.03116396e-01 -9.70080641e-03 1.42636447e+02] [ 1.20134413e-02 1.96073445e-04 9.99927817e-01 4.11904927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70028169299997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:309.19, Y:142.68, Z:4.12 [[ 6.03613475e-01 -7.97245598e-01 -7.08731814e-03 3.09193458e+02] [ 7.97186587e-01 6.03655046e-01 -9.70212000e-03 1.42682586e+02] [ 1.20132678e-02 2.06415404e-04 9.99927817e-01 4.12082017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76028169299997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:309.22, Y:142.73, Z:4.12 [[ 6.04871281e-01 -7.96291739e-01 -7.08516865e-03 3.09224854e+02] [ 7.96232645e-01 6.04912732e-01 -9.70368946e-03 1.42729470e+02] [ 1.20128765e-02 2.28040496e-04 9.99927817e-01 4.12124120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82028169299997 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:309.25, Y:142.78, Z:4.12 [[ 6.07765219e-01 -7.94085178e-01 -7.08297235e-03 3.09254340e+02] [ 7.94025914e-01 6.07806429e-01 -9.70529233e-03 1.42779327e+02] [ 1.20119049e-02 2.74475531e-04 9.99927817e-01 4.11959335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.880281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:309.28, Y:142.83, Z:4.12 [[ 6.06615266e-01 -7.94964013e-01 -7.08079923e-03 3.09284460e+02] [ 7.94904790e-01 6.06656535e-01 -9.70687754e-03 1.42826266e+02] [ 1.20122314e-02 2.59778875e-04 9.99927817e-01 4.11981643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.940281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:309.32, Y:142.87, Z:4.12 [[ 6.03468832e-01 -7.97355167e-01 -7.07852866e-03 3.09315158e+02] [ 7.97296089e-01 6.03510307e-01 -9.70853302e-03 1.42872041e+02] [ 1.20131140e-02 2.15113863e-04 9.99927817e-01 4.12114546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.000281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.35, Y:142.92, Z:4.12 [[ 5.98617269e-01 -8.01003929e-01 -7.07616290e-03 3.09346852e+02] [ 8.00945083e-01 5.98659073e-01 -9.71025702e-03 1.42918821e+02] [ 1.20141631e-02 1.45109659e-04 9.99927817e-01 4.11932499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.060281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.38, Y:142.97, Z:4.12 [[ 5.97149763e-01 -8.02098572e-01 -7.07397386e-03 3.09377119e+02] [ 8.02039784e-01 5.97191648e-01 -9.71185149e-03 1.42967799e+02] [ 1.20143803e-02 1.25821338e-04 9.99927817e-01 4.12175292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.120281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:309.41, Y:143.01, Z:4.12 [[ 5.96625940e-01 -8.02488303e-01 -7.07190241e-03 3.09409194e+02] [ 8.02429524e-01 5.96667839e-01 -9.71335962e-03 1.43013731e+02] [ 1.20144342e-02 1.20539030e-04 9.99927817e-01 4.12224258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.180281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:309.44, Y:143.06, Z:4.12 [[ 5.95420947e-01 -8.03382796e-01 -7.06960173e-03 3.09442220e+02] [ 8.03324060e-01 5.95462906e-01 -9.71503382e-03 1.43059624e+02] [ 1.20145766e-02 1.05353472e-04 9.99927817e-01 4.12213106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.240281693 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:309.48, Y:143.10, Z:4.13 [[ 5.90058728e-01 -8.07329394e-01 -7.06731924e-03 3.09476875e+02] [ 8.07270919e-01 5.90101050e-01 -9.71669396e-03 1.43103452e+02] [ 1.20150052e-02 2.81787759e-05 9.99927817e-01 4.12687909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.300281693 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:309.51, Y:143.15, Z:4.13 [[ 5.88281029e-01 -8.08625696e-01 -7.06499207e-03 3.09513608e+02] [ 8.08567294e-01 5.88323452e-01 -9.71838575e-03 1.43145494e+02] [ 1.20150370e-02 4.62044868e-06 9.99927817e-01 4.12676764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.360281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:309.55, Y:143.19, Z:4.13 [[ 5.91366102e-01 -8.06372280e-01 -7.06257243e-03 3.09549873e+02] [ 8.06313695e-01 5.91408272e-01 -9.72014384e-03 1.43187303e+02] [ 1.20149183e-02 5.35147015e-05 9.99927817e-01 4.12629434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42028169299994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:309.58, Y:143.23, Z:4.13 [[ 5.94965816e-01 -8.03719996e-01 -7.06022921e-03 3.09584643e+02] [ 8.03661203e-01 5.95007694e-01 -9.72184554e-03 1.43231669e+02] [ 1.20145324e-02 1.10133466e-04 9.99927817e-01 4.12634744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48028169299994 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:309.62, Y:143.28, Z:4.13 [[ 6.01845316e-01 -7.98581493e-01 -7.05801508e-03 3.09616800e+02] [ 7.98522324e-01 6.01886661e-01 -9.72345273e-03 1.43276508e+02] [ 1.20130945e-02 2.16031877e-04 9.99927817e-01 4.12780724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54028169299994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:309.64, Y:143.33, Z:4.13 [[ 6.06498917e-01 -7.95053005e-01 -7.05571740e-03 3.09644509e+02] [ 7.94993576e-01 6.06539888e-01 -9.72511973e-03 1.43325873e+02] [ 1.20115597e-02 2.89024578e-04 9.99927817e-01 4.12628281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60028169299994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:309.67, Y:143.37, Z:4.12 [[ 6.06385727e-01 -7.95139358e-01 -7.05345043e-03 3.09674262e+02] [ 7.95079916e-01 6.06426679e-01 -9.72676364e-03 1.43372171e+02] [ 1.20115331e-02 2.90113868e-04 9.99927817e-01 4.12463575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:309.70, Y:143.42, Z:4.13 [[ 6.02499760e-01 -7.98087916e-01 -7.05109321e-03 3.09704282e+02] [ 7.98028654e-01 6.02540973e-01 -9.72847213e-03 1.43420236e+02] [ 1.20127486e-02 2.34427707e-04 9.99927817e-01 4.12624249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72028169299995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:309.73, Y:143.47, Z:4.13 [[ 5.99742536e-01 -8.00161986e-01 -7.04886432e-03 3.09734170e+02] [ 8.00102848e-01 5.99783926e-01 -9.73008683e-03 1.43467661e+02] [ 1.20134411e-02 1.95730537e-04 9.99927817e-01 4.13127730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78028169299995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:309.77, Y:143.52, Z:4.13 [[ 6.00048704e-01 -7.99932434e-01 -7.04658969e-03 3.09765143e+02] [ 7.99873261e-01 6.00090043e-01 -9.73173385e-03 1.43515981e+02] [ 1.20133179e-02 2.03135604e-04 9.99927817e-01 4.13268850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:309.80, Y:143.56, Z:4.13 [[ 6.01427263e-01 -7.98896503e-01 -7.04450683e-03 3.09795368e+02] [ 7.98837241e-01 6.01468475e-01 -9.73324133e-03 1.43562082e+02] [ 1.20129012e-02 2.26422295e-04 9.99927817e-01 4.12927513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90028169299995 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:309.83, Y:143.61, Z:4.13 [[ 5.99051852e-01 -8.00679266e-01 -7.04209488e-03 3.09826538e+02] [ 8.00620107e-01 5.99093211e-01 -9.73498609e-03 1.43609688e+02] [ 1.20134728e-02 1.93718689e-04 9.99927817e-01 4.13231070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96028169299996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:309.86, Y:143.65, Z:4.13 [[ 5.96517082e-01 -8.02569504e-01 -7.04002115e-03 3.09857717e+02] [ 8.02510458e-01 5.96558603e-01 -9.73648551e-03 1.43654975e+02] [ 1.20139915e-02 1.58289341e-04 9.99927817e-01 4.13109052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02028169299996 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:309.89, Y:143.70, Z:4.13 [[ 5.97104681e-01 -8.02132448e-01 -7.03819530e-03 3.09886754e+02] [ 8.02073355e-01 5.97146136e-01 -9.73780518e-03 1.43703140e+02] [ 1.20138406e-02 1.69340135e-04 9.99927817e-01 4.12767731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08028169299996 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:309.92, Y:143.75, Z:4.13 [[ 5.95067933e-01 -8.03644605e-01 -7.03590172e-03 3.09918679e+02] [ 8.03585598e-01 5.95109510e-01 -9.73946209e-03 1.43749879e+02] [ 1.20141982e-02 1.41692288e-04 9.99927817e-01 4.13401763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:309.95, Y:143.80, Z:4.14 [[ 5.93002737e-01 -8.05169722e-01 -7.03370573e-03 3.09950806e+02] [ 8.05110803e-01 5.93044439e-01 -9.74104775e-03 1.43797175e+02] [ 1.20144968e-02 1.13555504e-04 9.99927817e-01 4.13672457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20028169299997 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:309.98, Y:143.84, Z:4.13 [[ 5.91039369e-01 -8.06612064e-01 -7.03160640e-03 3.09980270e+02] [ 8.06553229e-01 5.91081189e-01 -9.74256292e-03 1.43843762e+02] [ 1.20147190e-02 8.68733872e-05 9.99927817e-01 4.13440732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26028169299997 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:310.01, Y:143.89, Z:4.14 [[ 5.89776217e-01 -8.07536127e-01 -7.02975791e-03 3.10010038e+02] [ 8.07477342e-01 5.89818107e-01 -9.74389652e-03 1.43891005e+02] [ 1.20148270e-02 7.03482063e-05 9.99927817e-01 4.13535587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32028169299997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:310.04, Y:143.94, Z:4.14 [[ 5.86658522e-01 -8.09803923e-01 -7.02737841e-03 3.10041747e+02] [ 8.09745280e-01 5.86700609e-01 -9.74561233e-03 1.43938670e+02] [ 1.20150023e-02 2.69600300e-05 9.99927817e-01 4.13503316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.380281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:310.07, Y:143.98, Z:4.14 [[ 5.84899041e-01 -8.11075679e-01 -7.02527077e-03 3.10073118e+02] [ 8.11017109e-01 5.84941230e-01 -9.74713142e-03 1.43984439e+02] [ 1.20150318e-02 3.47302291e-06 9.99927817e-01 4.13884997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.440281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:310.10, Y:144.03, Z:4.14 [[ 5.83330467e-01 -8.12204559e-01 -7.02283421e-03 3.10104871e+02] [ 8.12146050e-01 5.83372740e-01 -9.74888665e-03 1.44029351e+02] [ 1.20150202e-02 -1.67444598e-05 9.99927817e-01 4.14400877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.500281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:310.14, Y:144.07, Z:4.14 [[ 5.80795522e-01 -8.14019211e-01 -7.02043431e-03 3.10137920e+02] [ 8.13960812e-01 5.80837948e-01 -9.75061458e-03 1.44074946e+02] [ 1.20149222e-02 -5.12451325e-05 9.99927817e-01 4.13889186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.560281693 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:310.17, Y:144.12, Z:4.14 [[ 5.76129583e-01 -8.17328239e-01 -7.01814141e-03 3.10172804e+02] [ 8.17270064e-01 5.76172315e-01 -9.75226465e-03 1.44118466e+02] [ 1.20144601e-02 -1.17148712e-04 9.99927817e-01 4.13735994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.620281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:310.21, Y:144.16, Z:4.14 [[ 5.73106449e-01 -8.19450900e-01 -7.01575775e-03 3.10208039e+02] [ 8.19392862e-01 5.73149367e-01 -9.75397914e-03 1.44162647e+02] [ 1.20139841e-02 -1.58593482e-04 9.99927817e-01 4.13968503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.680281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:310.24, Y:144.21, Z:4.14 [[ 5.70197002e-01 -8.21478051e-01 -7.01353316e-03 3.10243165e+02] [ 8.21420146e-01 5.70240100e-01 -9.75557845e-03 1.44206911e+02] [ 1.20133914e-02 -1.98455845e-04 9.99927817e-01 4.14467230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.740281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.28, Y:144.25, Z:4.14 [[ 5.68991449e-01 -8.22313548e-01 -7.01132361e-03 3.10281005e+02] [ 8.22255687e-01 5.69034606e-01 -9.75716620e-03 1.44248799e+02] [ 1.20131357e-02 -2.13356571e-04 9.99927817e-01 4.13688531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.800281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.32, Y:144.29, Z:4.14 [[ 5.70123492e-01 -8.21529109e-01 -7.00913569e-03 3.10317138e+02] [ 8.21471169e-01 5.70166542e-01 -9.75873765e-03 1.44292436e+02] [ 1.20134617e-02 -1.94117309e-04 9.99927817e-01 4.13543963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.860281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:310.35, Y:144.34, Z:4.14 [[ 5.74212825e-01 -8.18676086e-01 -7.00696448e-03 3.10351958e+02] [ 8.18617913e-01 5.74255561e-01 -9.76029638e-03 1.44335776e+02] [ 1.20143096e-02 -1.31539279e-04 9.99927817e-01 4.13958021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92028169299994 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:310.39, Y:144.38, Z:4.14 [[ 5.79312873e-01 -8.15075168e-01 -7.00469818e-03 3.10385985e+02] [ 8.15016710e-01 5.79355217e-01 -9.76192257e-03 1.44380317e+02] [ 1.20149091e-02 -5.37386570e-05 9.99927817e-01 4.14407872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98028169299994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:310.42, Y:144.43, Z:4.14 [[ 5.82968296e-01 -8.12464725e-01 -7.00255831e-03 3.10418473e+02] [ 8.12406059e-01 5.83010352e-01 -9.76345733e-03 1.44425609e+02] [ 1.20150287e-02 2.86528467e-06 9.99927817e-01 4.14388720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:310.45, Y:144.47, Z:4.14 [[ 5.83709054e-01 -8.11932716e-01 -7.00032111e-03 3.10449191e+02] [ 8.11873992e-01 5.83751029e-01 -9.76506112e-03 1.44471162e+02] [ 1.20150173e-02 1.65759414e-05 9.99927817e-01 4.14167936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10028169299994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:310.48, Y:144.52, Z:4.14 [[ 5.82358871e-01 -8.12901700e-01 -6.99798390e-03 3.10481284e+02] [ 8.12843026e-01 5.82400915e-01 -9.76673575e-03 1.44516093e+02] [ 1.20150283e-02 -5.17205918e-07 9.99927817e-01 4.14347212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16028169299994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:310.51, Y:144.56, Z:4.14 [[ 5.80174075e-01 -8.14462463e-01 -6.99562894e-03 3.10514129e+02] [ 8.14403881e-01 5.80216249e-01 -9.76842226e-03 1.44561383e+02] [ 1.20149908e-02 -2.98820083e-05 9.99927817e-01 4.14468033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22028169299995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:310.55, Y:144.61, Z:4.14 [[ 5.79310996e-01 -8.15076599e-01 -6.99341192e-03 3.10545302e+02] [ 8.15018043e-01 5.79353206e-01 -9.77000921e-03 1.44607993e+02] [ 1.20149615e-02 -3.98831261e-05 9.99927817e-01 4.14384318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:310.57, Y:144.66, Z:4.15 [[ 5.78997897e-01 -8.15299062e-01 -6.99106940e-03 3.10574794e+02] [ 8.15240502e-01 5.79040100e-01 -9.77168515e-03 1.44655474e+02] [ 1.20149553e-02 -4.16177783e-05 9.99927817e-01 4.14626376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34028169299995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:310.61, Y:144.70, Z:4.14 [[ 5.76204383e-01 -8.17275760e-01 -6.98863381e-03 3.10607516e+02] [ 8.17217324e-01 5.76246758e-01 -9.77342675e-03 1.44701804e+02] [ 1.20147623e-02 -7.97412883e-05 9.99927817e-01 4.14238697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40028169299995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:310.64, Y:144.75, Z:4.14 [[ 5.71886703e-01 -8.20302865e-01 -6.98632640e-03 3.10640839e+02] [ 8.20244633e-01 5.71929358e-01 -9.77507588e-03 1.44745638e+02] [ 1.20142079e-02 -1.40260815e-04 9.99927817e-01 4.14242118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:310.68, Y:144.79, Z:4.15 [[ 5.66110135e-01 -8.24300030e-01 -6.98392864e-03 3.10678942e+02] [ 8.24242078e-01 5.66153169e-01 -9.77678868e-03 1.44787313e+02] [ 1.20129805e-02 -2.21708694e-04 9.99927817e-01 4.15111150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.72, Y:144.83, Z:4.15 [[ 5.60537384e-01 -8.28099690e-01 -6.98169537e-03 3.10720747e+02] [ 8.28042010e-01 5.60580782e-01 -9.77838323e-03 1.44826213e+02] [ 1.20112804e-02 -2.99987706e-04 9.99927817e-01 4.14737132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:310.76, Y:144.87, Z:4.14 [[ 5.58339864e-01 -8.29582958e-01 -6.97939050e-03 3.10760053e+02] [ 8.29525372e-01 5.58383388e-01 -9.78002806e-03 1.44867521e+02] [ 1.20105203e-02 -3.29001963e-04 9.99927817e-01 4.14131803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.80, Y:144.90, Z:4.14 [[ 5.60349088e-01 -8.28227155e-01 -6.97701650e-03 3.10803386e+02] [ 8.28169443e-01 5.60392444e-01 -9.78172137e-03 1.44903981e+02] [ 1.20113546e-02 -2.96973220e-04 9.99927817e-01 4.14282681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.84, Y:144.95, Z:4.15 [[ 5.67364799e-01 -8.23437029e-01 -6.97454885e-03 3.10841817e+02] [ 8.23378929e-01 5.67407634e-01 -9.78348053e-03 1.44945460e+02] [ 1.20134924e-02 -1.91894097e-04 9.99927817e-01 4.14530132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.88, Y:144.99, Z:4.14 [[ 5.76572149e-01 -8.17016490e-01 -6.97223410e-03 3.10876995e+02] [ 8.16957893e-01 5.76614301e-01 -9.78512987e-03 1.44988219e+02] [ 1.20149024e-02 -5.41883278e-05 9.99927817e-01 4.14406529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82028169299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:310.91, Y:145.03, Z:4.15 [[ 5.82386416e-01 -8.12882208e-01 -6.96982189e-03 3.10908809e+02] [ 8.12823291e-01 5.82428120e-01 -9.78684776e-03 1.45034299e+02] [ 1.20149747e-02 3.44936263e-05 9.99927817e-01 4.14788926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.880281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.94, Y:145.08, Z:4.15 [[ 5.87314380e-01 -8.09328903e-01 -6.96753153e-03 3.10938214e+02] [ 8.09269714e-01 5.87355697e-01 -9.78847806e-03 1.45082099e+02] [ 1.20145175e-02 1.10301671e-04 9.99927817e-01 4.14970700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.940281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:310.97, Y:145.13, Z:4.15 [[ 5.87852050e-01 -8.08938473e-01 -6.96525385e-03 3.10967089e+02] [ 8.08879238e-01 5.87893300e-01 -9.79009853e-03 1.45130726e+02] [ 1.20144134e-02 1.21080267e-04 9.99927817e-01 4.15276946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.000281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:311.00, Y:145.18, Z:4.16 [[ 5.87168703e-01 -8.09434638e-01 -6.96292146e-03 3.10995327e+02] [ 8.09375418e-01 5.87209975e-01 -9.79175709e-03 1.45178108e+02] [ 1.20144843e-02 1.13795840e-04 9.99927817e-01 4.15775267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.060281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.03, Y:145.23, Z:4.16 [[ 5.85453635e-01 -8.10676005e-01 -6.96108196e-03 3.11026820e+02] [ 8.10616857e-01 5.85495010e-01 -9.79306464e-03 1.45225178e+02] [ 1.20146813e-02 9.06149043e-05 9.99927817e-01 4.15949821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.120281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.06, Y:145.27, Z:4.16 [[ 5.85081742e-01 -8.10944469e-01 -6.95874293e-03 3.11055748e+02] [ 8.10885320e-01 5.85123116e-01 -9.79472643e-03 1.45271997e+02] [ 1.20147006e-02 8.79731063e-05 9.99927817e-01 4.15824073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.180281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.09, Y:145.32, Z:4.15 [[ 5.85625009e-01 -8.10552255e-01 -6.95631137e-03 3.11085511e+02] [ 8.10493058e-01 5.85666314e-01 -9.79645304e-03 1.45319068e+02] [ 1.20146143e-02 9.90058271e-05 9.99927817e-01 4.15463372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.240281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:311.12, Y:145.37, Z:4.16 [[ 5.84696329e-01 -8.11222435e-01 -6.95448573e-03 3.11117396e+02] [ 8.11163270e-01 5.84737679e-01 -9.79774889e-03 1.45365188e+02] [ 1.20147036e-02 8.74844221e-05 9.99927817e-01 4.15656350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.300281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:311.15, Y:145.41, Z:4.16 [[ 5.83300409e-01 -8.12226754e-01 -6.95215240e-03 3.11150441e+02] [ 8.12167641e-01 5.83341833e-01 -9.79940426e-03 1.45410052e+02] [ 1.20148196e-02 6.96832930e-05 9.99927817e-01 4.15684254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.360281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:311.18, Y:145.46, Z:4.16 [[ 5.82198219e-01 -8.13017180e-01 -6.94972267e-03 3.11182456e+02] [ 8.12958102e-01 5.82239694e-01 -9.80112712e-03 1.45456670e+02] [ 1.20148891e-02 5.63654027e-05 9.99927817e-01 4.16062076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:311.21, Y:145.50, Z:4.16 [[ 5.83985525e-01 -8.11734341e-01 -6.94746255e-03 3.11213587e+02] [ 8.11675153e-01 5.84026843e-01 -9.80272892e-03 1.45504047e+02] [ 1.20147163e-02 8.55690643e-05 9.99927817e-01 4.15852248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.25, Y:145.55, Z:4.16 [[ 5.83019860e-01 -8.12428217e-01 -6.94510706e-03 3.11245597e+02] [ 8.12369059e-01 5.83061220e-01 -9.80439747e-03 1.45548748e+02] [ 1.20147918e-02 7.41683523e-05 9.99927817e-01 4.15842406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.28, Y:145.59, Z:4.16 [[ 5.79322682e-01 -8.15068727e-01 -6.94266555e-03 3.11279502e+02] [ 8.15009736e-01 5.79364281e-01 -9.80612605e-03 1.45593803e+02] [ 1.20149991e-02 2.25712331e-05 9.99927817e-01 4.15991565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.31, Y:145.64, Z:4.16 [[ 5.77675831e-01 -8.16236770e-01 -6.94039987e-03 3.11313366e+02] [ 8.16177844e-01 5.77717522e-01 -9.80772934e-03 1.45637575e+02] [ 1.20150199e-02 1.08759246e-06 9.99927817e-01 4.15978486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.35, Y:145.68, Z:4.16 [[ 5.79323297e-01 -8.15068324e-01 -6.93859462e-03 3.11347141e+02] [ 8.15009299e-01 5.79364847e-01 -9.80900633e-03 1.45682742e+02] [ 1.20149882e-02 2.75667496e-05 9.99927817e-01 4.16116393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.38, Y:145.73, Z:4.16 [[ 5.82683532e-01 -8.12669544e-01 -6.93638293e-03 3.11381514e+02] [ 8.12610330e-01 5.82724811e-01 -9.81057006e-03 1.45726971e+02] [ 1.20147539e-02 7.98811876e-05 9.99927817e-01 4.16321939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:311.42, Y:145.77, Z:4.17 [[ 5.84929191e-01 -8.11054720e-01 -6.93419911e-03 3.11416457e+02] [ 8.10995372e-01 5.84970280e-01 -9.81211336e-03 1.45770887e+02] [ 1.20144612e-02 1.15788147e-04 9.99927817e-01 4.16777409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.45, Y:145.82, Z:4.17 [[ 5.86601833e-01 -8.09845812e-01 -6.93189873e-03 3.11450127e+02] [ 8.09786361e-01 5.86642771e-01 -9.81373823e-03 1.45815798e+02] [ 1.20141631e-02 1.43399789e-04 9.99927817e-01 4.17054373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.48, Y:145.86, Z:4.17 [[ 5.90687677e-01 -8.06870528e-01 -6.92961399e-03 3.11481409e+02] [ 8.06810852e-01 5.90728287e-01 -9.81535125e-03 1.45861187e+02] [ 1.20132366e-02 2.06919269e-04 9.99927817e-01 4.16801236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:311.51, Y:145.91, Z:4.17 [[ 5.93679597e-01 -8.04671703e-01 -6.92724278e-03 3.11512946e+02] [ 8.04611857e-01 5.93719955e-01 -9.81702446e-03 1.45907344e+02] [ 1.20123241e-02 2.54425442e-04 9.99927817e-01 4.16705443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:311.54, Y:145.95, Z:4.17 [[ 5.96385254e-01 -8.02668470e-01 -6.92501119e-03 3.11544058e+02] [ 8.02608470e-01 5.96425384e-01 -9.81859839e-03 1.45953847e+02] [ 1.20113318e-02 2.97594662e-04 9.99927817e-01 4.17170473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08028169299996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:311.57, Y:146.00, Z:4.17 [[ 5.98877508e-01 -8.00810718e-01 -6.92269311e-03 3.11574522e+02] [ 8.00750575e-01 5.98917423e-01 -9.82023250e-03 1.45999644e+02] [ 1.20102690e-02 3.37765874e-04 9.99927817e-01 4.17217117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:311.61, Y:146.05, Z:4.17 [[ 6.00078423e-01 -7.99911243e-01 -6.92029544e-03 3.11605907e+02] [ 7.99851020e-01 6.00118218e-01 -9.82192184e-03 1.46046812e+02] [ 1.20096611e-02 3.58717999e-04 9.99927817e-01 4.16965450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20028169299997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:311.64, Y:146.09, Z:4.17 [[ 6.01321286e-01 -7.98977378e-01 -6.91810986e-03 3.11638738e+02] [ 7.98917076e-01 6.01360961e-01 -9.82346102e-03 1.46093235e+02] [ 1.20090043e-02 3.80060116e-04 9.99927817e-01 4.17486863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26028169299997 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:311.67, Y:146.14, Z:4.17 [[ 6.03831459e-01 -7.97082015e-01 -6.91601918e-03 3.11669549e+02] [ 7.97021571e-01 6.03870918e-01 -9.82493271e-03 1.46139632e+02] [ 1.20076600e-02 4.20386979e-04 9.99927817e-01 4.17298440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32028169299997 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:311.70, Y:146.19, Z:4.18 [[ 6.07109859e-01 -7.94587831e-01 -6.91360489e-03 3.11698018e+02] [ 7.94527207e-01 6.07149039e-01 -9.82663130e-03 1.46189833e+02] [ 1.20057102e-02 4.72797562e-04 9.99927817e-01 4.17662448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.380281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:311.73, Y:146.24, Z:4.18 [[ 6.08192346e-01 -7.93759599e-01 -6.91154660e-03 3.11726007e+02] [ 7.93698905e-01 6.08231418e-01 -9.82807878e-03 1.46240638e+02] [ 1.20049517e-02 4.91675324e-04 9.99927817e-01 4.17690866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.440281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:311.75, Y:146.29, Z:4.18 [[ 6.07401514e-01 -7.94364942e-01 -6.90946284e-03 3.11748524e+02] [ 7.94304270e-01 6.07440620e-01 -9.82954352e-03 1.46293102e+02] [ 1.20053332e-02 4.82263775e-04 9.99927817e-01 4.17670152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.500281693 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:311.77, Y:146.35, Z:4.18 [[ 6.03307623e-01 -7.97478653e-01 -6.90728988e-03 3.11772371e+02] [ 7.97418165e-01 6.03347014e-01 -9.83107023e-03 1.46345732e+02] [ 1.20075614e-02 4.23161185e-04 9.99927817e-01 4.17842900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.560281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:311.80, Y:146.40, Z:4.18 [[ 5.98755811e-01 -8.00901864e-01 -6.90526452e-03 3.11796762e+02] [ 8.00841586e-01 5.98795521e-01 -9.83249262e-03 1.46396261e+02] [ 1.20097031e-02 3.57239099e-04 9.99927817e-01 4.17727646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.620281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:311.82, Y:146.44, Z:4.18 [[ 5.96765539e-01 -8.02385968e-01 -6.90292008e-03 3.11824131e+02] [ 8.02325769e-01 5.96805370e-01 -9.83413826e-03 1.46444638e+02] [ 1.20104743e-02 3.30284158e-04 9.99927817e-01 4.17832127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.680281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:311.85, Y:146.50, Z:4.18 [[ 5.95622858e-01 -8.03234581e-01 -6.90063167e-03 3.11849770e+02] [ 8.03174421e-01 5.95662747e-01 -9.83574378e-03 1.46496576e+02] [ 1.20108588e-02 3.15982974e-04 9.99927817e-01 4.17916640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.740281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:311.88, Y:146.55, Z:4.18 [[ 5.94469509e-01 -8.04088560e-01 -6.89854101e-03 3.11877560e+02] [ 8.04028440e-01 5.94509459e-01 -9.83720990e-03 1.46547116e+02] [ 1.20112358e-02 3.01298180e-04 9.99927817e-01 4.18000561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.800281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:311.91, Y:146.60, Z:4.18 [[ 5.93065351e-01 -8.05124791e-01 -6.89646315e-03 3.11907809e+02] [ 8.05064724e-01 5.93105380e-01 -9.83866639e-03 1.46596130e+02] [ 1.20116836e-02 2.82872931e-04 9.99927817e-01 4.18275590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.860281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:311.94, Y:146.64, Z:4.19 [[ 5.89247731e-01 -8.07923003e-01 -6.89437600e-03 3.11936770e+02] [ 8.07863109e-01 5.89288018e-01 -9.84012872e-03 1.46644623e+02] [ 1.20128395e-02 2.28561486e-04 9.99927817e-01 4.18672753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92028169299994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:311.97, Y:146.69, Z:4.19 [[ 5.85599534e-01 -8.10571209e-01 -6.89206371e-03 3.11965884e+02] [ 8.10511478e-01 5.85640063e-01 -9.84174800e-03 1.46693297e+02] [ 1.20137062e-02 1.77226303e-04 9.99927817e-01 4.18592349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98028169299994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:312.00, Y:146.74, Z:4.19 [[ 5.79847059e-01 -8.14696213e-01 -6.88977160e-03 3.11996932e+02] [ 8.14636751e-01 5.79887982e-01 -9.84335234e-03 1.46738910e+02] [ 1.20146376e-02 9.49777520e-05 9.99927817e-01 4.18657233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04028169299994 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:312.03, Y:146.78, Z:4.19 [[ 5.74093659e-01 -8.18760670e-01 -6.88738148e-03 3.12029117e+02] [ 8.18701478e-01 5.74134971e-01 -9.84502442e-03 1.46784725e+02] [ 1.20150054e-02 1.32566992e-05 9.99927817e-01 4.18504978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10028169299994 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:312.06, Y:146.83, Z:4.18 [[ 5.71733426e-01 -8.20410558e-01 -6.88513809e-03 3.12062449e+02] [ 8.20351467e-01 5.71774882e-01 -9.84659309e-03 1.46830788e+02] [ 1.20149980e-02 -1.86067225e-05 9.99927817e-01 4.18127828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16028169299994 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:312.10, Y:146.87, Z:4.18 [[ 5.69661681e-01 -8.21850470e-01 -6.88283169e-03 3.12097431e+02] [ 8.21791464e-01 5.69703258e-01 -9.84820502e-03 1.46874590e+02] [ 1.20149236e-02 -4.61073013e-05 9.99927817e-01 4.18198241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22028169299995 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:312.13, Y:146.92, Z:4.18 [[ 5.68356238e-01 -8.22753818e-01 -6.88053194e-03 3.12133492e+02] [ 8.22694858e-01 5.68397881e-01 -9.84981149e-03 1.46918184e+02] [ 1.20148498e-02 -6.23764497e-05 9.99927817e-01 4.18370234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28028169299995 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:312.17, Y:146.96, Z:4.18 [[ 5.67826897e-01 -8.23119254e-01 -6.87816079e-03 3.12168338e+02] [ 8.23060301e-01 5.67868549e-01 -9.85146699e-03 1.46961800e+02] [ 1.20148234e-02 -6.72131606e-05 9.99927817e-01 4.18168692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34028169299995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:312.20, Y:147.01, Z:4.18 [[ 5.67687701e-01 -8.23215276e-01 -6.87628825e-03 3.12201547e+02] [ 8.23156314e-01 5.67729341e-01 -9.85277385e-03 1.47007319e+02] [ 1.20148245e-02 -6.69615543e-05 9.99927817e-01 4.18310285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40028169299995 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:312.24, Y:147.05, Z:4.18 [[ 5.67766319e-01 -8.23161074e-01 -6.87406247e-03 3.12237266e+02] [ 8.23102090e-01 5.67807927e-01 -9.85432649e-03 1.47049517e+02] [ 1.20148451e-02 -6.31005109e-05 9.99927817e-01 4.18382932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46028169299996 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:312.27, Y:147.09, Z:4.19 [[ 5.68599801e-01 -8.22585586e-01 -6.87174342e-03 3.12272257e+02] [ 8.22526540e-01 5.68641321e-01 -9.85594336e-03 1.47093904e+02] [ 1.20149142e-02 -4.81039040e-05 9.99927817e-01 4.18745713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52028169299996 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:312.31, Y:147.14, Z:4.19 [[ 5.69682289e-01 -8.21836297e-01 -6.86956248e-03 3.12308021e+02] [ 8.21777178e-01 5.69723705e-01 -9.85746324e-03 1.47138168e+02] [ 1.20149737e-02 -2.96274548e-05 9.99927817e-01 4.18731991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58028169299996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:312.34, Y:147.18, Z:4.18 [[ 5.69429921e-01 -8.22011196e-01 -6.86720852e-03 3.12340820e+02] [ 8.21952070e-01 5.69471327e-01 -9.85910285e-03 1.47183142e+02] [ 1.20149713e-02 -3.04480997e-05 9.99927817e-01 4.18467494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64028169299996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:312.38, Y:147.23, Z:4.19 [[ 5.66269313e-01 -8.24191684e-01 -6.86533623e-03 3.12377610e+02] [ 8.24132702e-01 5.66310923e-01 -9.86040645e-03 1.47226707e+02] [ 1.20147799e-02 -7.43025109e-05 9.99927817e-01 4.18847881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70028169299997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:312.42, Y:147.27, Z:4.19 [[ 5.65543893e-01 -8.24689642e-01 -6.86296643e-03 3.12415257e+02] [ 8.24630676e-01 5.65585527e-01 -9.86205558e-03 1.47270286e+02] [ 1.20147296e-02 -8.19873421e-05 9.99927817e-01 4.19304726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76028169299997 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:312.45, Y:147.31, Z:4.19 [[ 5.67844188e-01 -8.23107471e-01 -6.86075233e-03 3.12448755e+02] [ 8.23048370e-01 5.67885631e-01 -9.86359562e-03 1.47314420e+02] [ 1.20149219e-02 -4.57455776e-05 9.99927817e-01 4.18848147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82028169299997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:312.48, Y:147.36, Z:4.19 [[ 5.72711231e-01 -8.19728499e-01 -6.85819514e-03 3.12481347e+02] [ 8.19669132e-01 5.72752292e-01 -9.86537333e-03 1.47360035e+02] [ 1.20149747e-02 2.85592398e-05 9.99927817e-01 4.18923304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.880281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:312.51, Y:147.41, Z:4.19 [[ 5.77543315e-01 -8.16331254e-01 -6.85581888e-03 3.12510515e+02] [ 8.16271627e-01 5.77583996e-01 -9.86702440e-03 1.47406869e+02] [ 1.20145717e-02 1.02423551e-04 9.99927817e-01 4.19202723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.940281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:312.54, Y:147.46, Z:4.19 [[ 5.82403806e-01 -8.12870739e-01 -6.85334706e-03 3.12536023e+02] [ 8.12810850e-01 5.82444100e-01 -9.86874096e-03 1.47458098e+02] [ 1.20137023e-02 1.77117446e-04 9.99927817e-01 4.19469254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.000281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:312.56, Y:147.51, Z:4.20 [[ 5.85468026e-01 -8.10666549e-01 -6.85100959e-03 3.12561970e+02] [ 8.10606489e-01 5.85508066e-01 -9.87036339e-03 1.47508065e+02] [ 1.20128948e-02 2.25309337e-04 9.99927817e-01 4.19677865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.060281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:312.58, Y:147.56, Z:4.20 [[ 5.87726778e-01 -8.09030487e-01 -6.84869642e-03 3.12584233e+02] [ 8.08970297e-01 5.87766622e-01 -9.87196816e-03 1.47561599e+02] [ 1.20121584e-02 2.61628058e-04 9.99927817e-01 4.19684020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.120281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:312.61, Y:147.61, Z:4.20 [[ 5.86786842e-01 -8.09712498e-01 -6.84636496e-03 3.12606950e+02] [ 8.09652336e-01 5.86826727e-01 -9.87358480e-03 1.47612983e+02] [ 1.20123950e-02 2.50514260e-04 9.99927817e-01 4.19524820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.180281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:312.63, Y:147.66, Z:4.19 [[ 5.85901334e-01 -8.10353495e-01 -6.84394306e-03 3.12633625e+02] [ 8.10293357e-01 5.85941256e-01 -9.87526327e-03 1.47663472e+02] [ 1.20126027e-02 2.40328332e-04 9.99927817e-01 4.19463019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.240281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:312.66, Y:147.71, Z:4.20 [[ 5.84228968e-01 -8.11560044e-01 -6.84161668e-03 3.12658442e+02] [ 8.11499969e-01 5.84268986e-01 -9.87687473e-03 1.47713743e+02] [ 1.20130213e-02 2.18384614e-04 9.99927817e-01 4.19999609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.300281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:312.69, Y:147.76, Z:4.20 [[ 5.82864712e-01 -8.12540431e-01 -6.83920304e-03 3.12685260e+02] [ 8.12480404e-01 5.82904801e-01 -9.87854577e-03 1.47761970e+02] [ 1.20133221e-02 2.01137281e-04 9.99927817e-01 4.19656310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.360281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:312.71, Y:147.81, Z:4.20 [[ 5.79505575e-01 -8.14939596e-01 -6.83684923e-03 3.12714644e+02] [ 8.14879716e-01 5.79545883e-01 -9.88017455e-03 1.47810458e+02] [ 1.20140133e-02 1.54406478e-04 9.99927817e-01 4.19678418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.75, Y:147.86, Z:4.20 [[ 5.71009203e-01 -8.20915208e-01 -6.83460646e-03 3.12746251e+02] [ 8.20855731e-01 5.71050104e-01 -9.88172574e-03 1.47857422e+02] [ 1.20149617e-02 3.23304649e-05 9.99927817e-01 4.19649373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48028169299994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:312.78, Y:147.90, Z:4.20 [[ 5.63672434e-01 -8.25970161e-01 -6.83236794e-03 3.12779461e+02] [ 8.25911032e-01 5.63713836e-01 -9.88327324e-03 1.47902355e+02] [ 1.20147891e-02 -7.19993735e-05 9.99927817e-01 4.19731785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54028169299994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:312.82, Y:147.94, Z:4.20 [[ 5.52523921e-01 -8.33469055e-01 -6.83011861e-03 3.12815090e+02] [ 8.33410469e-01 5.52566087e-01 -9.88482746e-03 1.47944650e+02] [ 1.20127897e-02 -2.30688724e-04 9.99927817e-01 4.20328230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.86, Y:147.99, Z:4.20 [[ 5.44192355e-01 -8.38932692e-01 -6.82778282e-03 3.12855189e+02] [ 8.38874509e-01 5.44235075e-01 -9.88644061e-03 1.47985676e+02] [ 1.20099771e-02 -3.47527561e-04 9.99927817e-01 4.20289833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.89, Y:148.03, Z:4.20 [[ 5.41302715e-01 -8.40800086e-01 -6.82543391e-03 3.12894587e+02] [ 8.40742029e-01 5.41345607e-01 -9.88806199e-03 1.48027103e+02] [ 1.20088020e-02 -3.85994354e-04 9.99927817e-01 4.20065579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.94, Y:148.07, Z:4.20 [[ 5.41210825e-01 -8.40859255e-01 -6.82323750e-03 3.12937176e+02] [ 8.40801184e-01 5.41253698e-01 -9.88957739e-03 1.48067773e+02] [ 1.20088452e-02 -3.84639833e-04 9.99927817e-01 4.19989044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:312.98, Y:148.11, Z:4.20 [[ 5.45953771e-01 -8.37787535e-01 -6.82107291e-03 3.12977480e+02] [ 8.37729204e-01 5.45996289e-01 -9.89107013e-03 1.48106648e+02] [ 1.20108958e-02 -3.14144948e-04 9.99927817e-01 4.20346089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.02, Y:148.15, Z:4.20 [[ 5.51239141e-01 -8.34319433e-01 -6.81857081e-03 3.13017643e+02] [ 8.34260813e-01 5.51281261e-01 -9.89279469e-03 1.48147463e+02] [ 1.20127012e-02 -2.35170776e-04 9.99927817e-01 4.19908837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90028169299995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:313.05, Y:148.19, Z:4.20 [[ 5.59023891e-01 -8.29123530e-01 -6.81624823e-03 3.13054760e+02] [ 8.29064499e-01 5.59065433e-01 -9.89439472e-03 1.48188809e+02] [ 1.20144042e-02 -1.19906379e-04 9.99927817e-01 4.20166715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.09, Y:148.24, Z:4.20 [[ 5.69820937e-01 -8.21740635e-01 -6.81383122e-03 3.13086026e+02] [ 8.21681046e-01 5.69861674e-01 -9.89605892e-03 1.48235109e+02] [ 1.20149350e-02 4.01856057e-05 9.99927817e-01 4.20260155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02028169299996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:313.12, Y:148.28, Z:4.21 [[ 5.76085031e-01 -8.17361389e-01 -6.81152485e-03 3.13116534e+02] [ 8.17301471e-01 5.76125283e-01 -9.89764616e-03 1.48282759e+02] [ 1.20142455e-02 1.34816513e-04 9.99927817e-01 4.20515945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:313.15, Y:148.33, Z:4.21 [[ 5.81587045e-01 -8.13455680e-01 -6.80923240e-03 3.13145598e+02] [ 8.13395474e-01 5.81626863e-01 -9.89922304e-03 1.48330815e+02] [ 1.20130117e-02 2.18661057e-04 9.99927817e-01 4.20624680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14028169299996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:313.17, Y:148.38, Z:4.21 [[ 5.81844973e-01 -8.13271230e-01 -6.80689529e-03 3.13172258e+02] [ 8.13210992e-01 5.81884745e-01 -9.90082981e-03 1.48379678e+02] [ 1.20128886e-02 2.25305986e-04 9.99927817e-01 4.20547815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20028169299997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:313.20, Y:148.43, Z:4.21 [[ 5.80796227e-01 -8.14020542e-01 -6.80448224e-03 3.13201639e+02] [ 8.13960336e-01 5.80836046e-01 -9.90248794e-03 1.48427251e+02] [ 1.20131172e-02 2.12748980e-04 9.99927817e-01 4.20502754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26028169299997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:313.23, Y:148.47, Z:4.21 [[ 5.76791872e-01 -8.16862820e-01 -6.80218621e-03 3.13233178e+02] [ 8.16802792e-01 5.76831959e-01 -9.90406487e-03 1.48472411e+02] [ 1.20139808e-02 1.56539426e-04 9.99927817e-01 4.20823803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32028169299997 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:313.27, Y:148.52, Z:4.21 [[ 5.70865490e-01 -8.21015441e-01 -6.79979822e-03 3.13267389e+02] [ 8.20955685e-01 5.70905982e-01 -9.90570411e-03 1.48517112e+02] [ 1.20147815e-02 7.24916199e-05 9.99927817e-01 4.20767204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.380281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:313.30, Y:148.56, Z:4.21 [[ 5.67424671e-01 -8.23397253e-01 -6.79744944e-03 3.13304973e+02] [ 8.23337648e-01 5.67465384e-01 -9.90731562e-03 1.48559733e+02] [ 1.20149737e-02 2.50592719e-05 9.99927817e-01 4.20722637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.440281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:313.34, Y:148.60, Z:4.21 [[ 5.65457973e-01 -8.24749118e-01 -6.79509771e-03 3.13342589e+02] [ 8.24689591e-01 5.65498799e-01 -9.90892833e-03 1.48602641e+02] [ 1.20149995e-02 -7.63820918e-07 9.99927817e-01 4.20643153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.500281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:313.38, Y:148.64, Z:4.20 [[ 5.63066110e-01 -8.26383939e-01 -6.79276086e-03 3.13383102e+02] [ 8.26324511e-01 5.63107081e-01 -9.91053003e-03 1.48641448e+02] [ 1.20149546e-02 -3.27412058e-05 9.99927817e-01 4.20438675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.560281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.42, Y:148.68, Z:4.20 [[ 5.63895818e-01 -8.25818018e-01 -6.79033469e-03 3.13424899e+02] [ 8.25758528e-01 5.63936700e-01 -9.91219207e-03 1.48680714e+02] [ 1.20149857e-02 -1.77331248e-05 9.99927817e-01 4.20308646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.620281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:313.46, Y:148.72, Z:4.20 [[ 5.65024358e-01 -8.25046300e-01 -6.78801085e-03 3.13463921e+02] [ 8.24986736e-01 5.65065131e-01 -9.91378321e-03 1.48720558e+02] [ 1.20149984e-02 1.51008254e-06 9.99927817e-01 4.20380036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.680281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:313.50, Y:148.76, Z:4.20 [[ 5.68755008e-01 -8.22478995e-01 -6.78560273e-03 3.13500338e+02] [ 8.22419227e-01 5.68795482e-01 -9.91543121e-03 1.48763630e+02] [ 1.20148541e-02 5.88410074e-05 9.99927817e-01 4.20375949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.740281693 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:313.53, Y:148.81, Z:4.20 [[ 5.73055454e-01 -8.19488519e-01 -6.78333070e-03 3.13531812e+02] [ 8.19428521e-01 5.73095587e-01 -9.91698530e-03 1.48808585e+02] [ 1.20143525e-02 1.24527878e-04 9.99927817e-01 4.20472410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.800281693 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:313.56, Y:148.86, Z:4.20 [[ 5.74818562e-01 -8.18252796e-01 -6.78097516e-03 3.13562240e+02] [ 8.18192693e-01 5.74858537e-01 -9.91859570e-03 1.48855649e+02] [ 1.20140201e-02 1.53248589e-04 9.99927817e-01 4.20395459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.860281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:313.59, Y:148.90, Z:4.20 [[ 5.76313581e-01 -8.17200529e-01 -6.77878260e-03 3.13592268e+02] [ 8.17140335e-01 5.76353420e-01 -9.92009396e-03 1.48903881e+02] [ 1.20136806e-02 1.77868188e-04 9.99927817e-01 4.20304469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92028169299994 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:313.62, Y:148.95, Z:4.21 [[ 5.76300675e-01 -8.17209649e-01 -6.77657925e-03 3.13617866e+02] [ 8.17149438e-01 5.76340487e-01 -9.92159887e-03 1.48952798e+02] [ 1.20136433e-02 1.80346202e-04 9.99927817e-01 4.20545077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98028169299994 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:313.64, Y:149.00, Z:4.21 [[ 5.73360679e-01 -8.19275070e-01 -6.77428286e-03 3.13643828e+02] [ 8.19214984e-01 5.73400680e-01 -9.92316656e-03 1.49001724e+02] [ 1.20141814e-02 1.39959489e-04 9.99927817e-01 4.21289278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04028169299994 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:313.67, Y:149.05, Z:4.21 [[ 5.72925698e-01 -8.19579334e-01 -6.77195671e-03 3.13673131e+02] [ 8.19519251e-01 5.72965703e-01 -9.92475376e-03 1.49048759e+02] [ 1.20142220e-02 1.36397584e-04 9.99927817e-01 4.21439568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10028169299994 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:313.70, Y:149.10, Z:4.21 [[ 5.72467260e-01 -8.19899633e-01 -6.76961080e-03 3.13700406e+02] [ 8.19839554e-01 5.72507269e-01 -9.92635363e-03 1.49098152e+02] [ 1.20142651e-02 1.32517763e-04 9.99927817e-01 4.21130343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16028169299994 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:313.73, Y:149.15, Z:4.21 [[ 5.71898693e-01 -8.20296342e-01 -6.76730473e-03 3.13727319e+02] [ 8.20236271e-01 5.71938717e-01 -9.92792555e-03 1.49147831e+02] [ 1.20143246e-02 1.26978852e-04 9.99927817e-01 4.21116583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22028169299995 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:313.76, Y:149.20, Z:4.20 [[ 5.71604185e-01 -8.20501609e-01 -6.76497138e-03 3.13755630e+02] [ 8.20441534e-01 5.71644202e-01 -9.92951526e-03 1.49197153e+02] [ 1.20143399e-02 1.25488984e-04 9.99927817e-01 4.20354741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28028169299995 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:313.78, Y:149.25, Z:4.20 [[ 5.71086190e-01 -8.20862247e-01 -6.76275280e-03 3.13782971e+02] [ 8.20802180e-01 5.71126218e-01 -9.93102605e-03 1.49246199e+02] [ 1.20143898e-02 1.20589591e-04 9.99927817e-01 4.20355525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34028169299995 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:313.81, Y:149.30, Z:4.20 [[ 5.70984094e-01 -8.20933287e-01 -6.76043416e-03 3.13809919e+02] [ 8.20873205e-01 5.71024101e-01 -9.93260419e-03 1.49295978e+02] [ 1.20143762e-02 1.21899749e-04 9.99927817e-01 4.20277358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40028169299995 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:313.84, Y:149.35, Z:4.20 [[ 5.67746093e-01 -8.23175985e-01 -6.75807303e-03 3.13835631e+02] [ 8.23116043e-01 5.67786308e-01 -9.93421043e-03 1.49345570e+02] [ 1.20147448e-02 7.74308238e-05 9.99927817e-01 4.19954855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46028169299996 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:313.86, Y:149.39, Z:4.20 [[ 5.63234113e-01 -8.26269748e-01 -6.75563112e-03 3.13862993e+02] [ 8.26210006e-01 5.63274626e-01 -9.93587074e-03 1.49394980e+02] [ 1.20149850e-02 1.46513135e-05 9.99927817e-01 4.20068270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52028169299996 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:313.89, Y:149.44, Z:4.20 [[ 5.60424033e-01 -8.28178300e-01 -6.75329380e-03 3.13891070e+02] [ 8.28118678e-01 5.60464720e-01 -9.93745913e-03 1.49443860e+02] [ 1.20149709e-02 -2.33378069e-05 9.99927817e-01 4.20191686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58028169299996 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:313.92, Y:149.49, Z:4.21 [[ 5.57037324e-01 -8.30460020e-01 -6.75095777e-03 3.13919109e+02] [ 8.30400545e-01 5.57078227e-01 -9.93904585e-03 1.49491782e+02] [ 1.20147918e-02 -6.95795048e-05 9.99927817e-01 4.20627120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64028169299996 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:313.95, Y:149.54, Z:4.21 [[ 5.53130181e-01 -8.33067500e-01 -6.74852986e-03 3.13946633e+02] [ 8.33008198e-01 5.53171334e-01 -9.94069410e-03 1.49540075e+02] [ 1.20143625e-02 -1.23082772e-04 9.99927817e-01 4.20918289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70028169299997 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:313.98, Y:149.59, Z:4.21 [[ 5.52711015e-01 -8.33345680e-01 -6.74614099e-03 3.13975760e+02] [ 8.33286379e-01 5.52752170e-01 -9.94231502e-03 1.49588646e+02] [ 1.20143293e-02 -1.26240363e-04 9.99927817e-01 4.20627275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76028169299997 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:314.00, Y:149.64, Z:4.21 [[ 5.52224809e-01 -8.33667968e-01 -6.74390583e-03 3.14001452e+02] [ 8.33608672e-01 5.52265971e-01 -9.94383090e-03 1.49639307e+02] [ 1.20142830e-02 -1.30548266e-04 9.99927817e-01 4.20529099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.82028169299997 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:314.03, Y:149.69, Z:4.21 [[ 5.53034738e-01 -8.33130920e-01 -6.74158256e-03 3.14029197e+02] [ 8.33071565e-01 5.53075815e-01 -9.94540576e-03 1.49687117e+02] [ 1.20144313e-02 -1.16065863e-04 9.99927817e-01 4.20541343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.880281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:314.06, Y:149.74, Z:4.21 [[ 5.53556258e-01 -8.32784518e-01 -6.73916767e-03 3.14057002e+02] [ 8.32725117e-01 5.53597269e-01 -9.94704186e-03 1.49735665e+02] [ 1.20145273e-02 -1.05626915e-04 9.99927817e-01 4.20508150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.940281693 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:314.09, Y:149.78, Z:4.21 [[ 5.52616694e-01 -8.33408306e-01 -6.73682194e-03 3.14086242e+02] [ 8.33348932e-01 5.52657744e-01 -9.94863029e-03 1.49784438e+02] [ 1.20144279e-02 -1.16344188e-04 9.99927817e-01 4.21089510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.000281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:314.12, Y:149.83, Z:4.21 [[ 5.52760144e-01 -8.33313187e-01 -6.73467695e-03 3.14117384e+02] [ 8.33253788e-01 5.52801158e-01 -9.95008212e-03 1.49831135e+02] [ 1.20144719e-02 -1.11686252e-04 9.99927817e-01 4.20882680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.060281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:314.15, Y:149.88, Z:4.21 [[ 5.53225164e-01 -8.33004558e-01 -6.73232449e-03 3.14149318e+02] [ 8.32945117e-01 5.53266117e-01 -9.95167357e-03 1.49877469e+02] [ 1.20145565e-02 -1.02140569e-04 9.99927817e-01 4.20753985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.120281693 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:314.18, Y:149.92, Z:4.20 [[ 5.52902415e-01 -8.33218835e-01 -6.72997333e-03 3.14182370e+02] [ 8.33159391e-01 5.52943363e-01 -9.95326332e-03 1.49921558e+02] [ 1.20145405e-02 -1.03957152e-04 9.99927817e-01 4.20312198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.180281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:314.22, Y:149.97, Z:4.20 [[ 5.49888562e-01 -8.35210933e-01 -6.72811019e-03 3.14217038e+02] [ 8.35151621e-01 5.49929702e-01 -9.95452259e-03 1.49965289e+02] [ 1.20141137e-02 -1.45114021e-04 9.99927817e-01 4.20078330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.240281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:314.25, Y:150.01, Z:4.21 [[ 5.47366260e-01 -8.36866143e-01 -6.72576399e-03 3.14251973e+02] [ 8.36806937e-01 5.47407550e-01 -9.95610754e-03 1.50010105e+02] [ 1.20136633e-02 -1.78528614e-04 9.99927817e-01 4.20670804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.300281693 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:314.29, Y:150.05, Z:4.21 [[ 5.47718594e-01 -8.36635606e-01 -6.72338603e-03 3.14286558e+02] [ 8.36576363e-01 5.47759832e-01 -9.95771312e-03 1.50053018e+02] [ 1.20137782e-02 -1.70601200e-04 9.99927817e-01 4.20612028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.360281693 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:314.32, Y:150.10, Z:4.21 [[ 5.48163128e-01 -8.36344435e-01 -6.72091036e-03 3.14320760e+02] [ 8.36285150e-01 5.48204304e-01 -9.95938378e-03 1.50097517e+02] [ 1.20139072e-02 -1.61230562e-04 9.99927817e-01 4.20618249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42028169299994 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:314.36, Y:150.14, Z:4.20 [[ 5.47919315e-01 -8.36504206e-01 -6.71853812e-03 3.14355476e+02] [ 8.36444912e-01 5.47960480e-01 -9.96098383e-03 1.50142188e+02] [ 1.20138982e-02 -1.61871593e-04 9.99927817e-01 4.20261314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48028169299994 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:314.39, Y:150.18, Z:4.20 [[ 5.50271511e-01 -8.34958776e-01 -6.71617025e-03 3.14392068e+02] [ 8.34899347e-01 5.50312482e-01 -9.96258010e-03 1.50184238e+02] [ 1.20143360e-02 -1.25202145e-04 9.99927817e-01 4.20199406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54028169299994 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:314.43, Y:150.23, Z:4.20 [[ 5.54849644e-01 -8.31923554e-01 -6.71370547e-03 3.14427320e+02] [ 8.31863881e-01 5.54890257e-01 -9.96424082e-03 1.50228333e+02] [ 1.20148564e-02 -5.62336159e-05 9.99927817e-01 4.20425048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60028169299994 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:314.46, Y:150.27, Z:4.20 [[ 5.61954802e-01 -8.27140712e-01 -6.71134833e-03 3.14459774e+02] [ 8.27080675e-01 5.61994875e-01 -9.96582821e-03 1.50273163e+02] [ 1.20148856e-02 4.95185124e-05 9.99927817e-01 4.20098226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66028169299994 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:314.49, Y:150.32, Z:4.20 [[ 5.65002690e-01 -8.25061781e-01 -6.70947614e-03 3.14490214e+02] [ 8.25001581e-01 5.65042519e-01 -9.96708849e-03 1.50320274e+02] [ 1.20146031e-02 9.61033813e-05 9.99927817e-01 4.20060612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72028169299995 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:314.52, Y:150.37, Z:4.21 [[ 5.66589660e-01 -8.23972798e-01 -6.70706653e-03 3.14520288e+02] [ 8.23912503e-01 5.66629344e-01 -9.96870971e-03 1.50366680e+02] [ 1.20143663e-02 1.22131878e-04 9.99927817e-01 4.20510006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78028169299995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:314.55, Y:150.41, Z:4.21 [[ 5.66942266e-01 -8.23730245e-01 -6.70455913e-03 3.14553075e+02] [ 8.23669912e-01 5.66981893e-01 -9.97039580e-03 1.50412393e+02] [ 1.20142802e-02 1.30295157e-04 9.99927817e-01 4.20679821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84028169299995 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:314.58, Y:150.46, Z:4.21 [[ 5.66778979e-01 -8.23842624e-01 -6.70219547e-03 3.14583959e+02] [ 8.23782281e-01 5.66818589e-01 -9.97198443e-03 1.50459192e+02] [ 1.20142748e-02 1.30761279e-04 9.99927817e-01 4.21056699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90028169299995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:314.61, Y:150.51, Z:4.21 [[ 5.68321108e-01 -8.22779576e-01 -6.69984799e-03 3.14614140e+02] [ 8.22719139e-01 5.68360577e-01 -9.97356137e-03 1.50507167e+02] [ 1.20139721e-02 1.56092284e-04 9.99927817e-01 4.21245048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96028169299996 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:314.64, Y:150.56, Z:4.21 [[ 5.72989302e-01 -8.19535480e-01 -6.69746586e-03 3.14644798e+02] [ 8.19474802e-01 5.73028398e-01 -9.97516076e-03 1.50555751e+02] [ 1.20128363e-02 2.27255890e-04 9.99927817e-01 4.20705590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02028169299996 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:314.67, Y:150.60, Z:4.21 [[ 5.74325097e-01 -8.18599936e-01 -6.69533249e-03 3.14672952e+02] [ 8.18539178e-01 5.74364068e-01 -9.97659248e-03 1.50603443e+02] [ 1.20123964e-02 2.49415496e-04 9.99927817e-01 4.20669340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08028169299996 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:314.70, Y:150.65, Z:4.21 [[ 5.71783355e-01 -8.20377353e-01 -6.69286868e-03 3.14700913e+02] [ 8.20316696e-01 5.71822484e-01 -9.97824507e-03 1.50652414e+02] [ 1.20130591e-02 2.15122523e-04 9.99927817e-01 4.20593777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14028169299996 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:314.73, Y:150.70, Z:4.21 [[ 5.69942398e-01 -8.21657410e-01 -6.69058858e-03 3.14729892e+02] [ 8.21596823e-01 5.69981635e-01 -9.97977369e-03 1.50701097e+02] [ 1.20134676e-02 1.90929829e-04 9.99927817e-01 4.20557689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20028169299997 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:314.76, Y:150.75, Z:4.20 [[ 5.68002338e-01 -8.22999764e-01 -6.68823247e-03 3.14756309e+02] [ 8.22939251e-01 5.68041690e-01 -9.98135245e-03 1.50751340e+02] [ 1.20138456e-02 1.65422515e-04 9.99927817e-01 4.20267416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26028169299997 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:314.78, Y:150.80, Z:4.20 [[ 5.65779616e-01 -8.24529396e-01 -6.68589496e-03 3.14782855e+02] [ 8.24468971e-01 5.65819103e-01 -9.98291796e-03 1.50801215e+02] [ 1.20142164e-02 1.35818556e-04 9.99927817e-01 4.20383551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.32028169299997 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:314.81, Y:150.85, Z:4.20 [[ 5.62560380e-01 -8.26729187e-01 -6.68356498e-03 3.14812911e+02] [ 8.26668898e-01 5.62600073e-01 -9.98447764e-03 1.50847867e+02] [ 1.20146332e-02 9.17762320e-05 9.99927817e-01 4.20464400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.380281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:314.84, Y:150.89, Z:4.21 [[ 5.61416817e-01 -8.27506206e-01 -6.68114183e-03 3.14843623e+02] [ 8.27445953e-01 5.61456564e-01 -9.98609883e-03 1.50894556e+02] [ 1.20147297e-02 7.80800432e-05 9.99927817e-01 4.20521790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.440281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:314.87, Y:150.94, Z:4.21 [[ 5.63350556e-01 -8.26190985e-01 -6.67885994e-03 3.14872412e+02] [ 8.26130621e-01 5.63390135e-01 -9.98762476e-03 1.50942804e+02] [ 1.20144893e-02 1.08923243e-04 9.99927817e-01 4.20523878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.500281693 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:314.90, Y:150.99, Z:4.20 [[ 5.67332142e-01 -8.23461999e-01 -6.67658250e-03 3.14900369e+02] [ 8.23401426e-01 5.67371402e-01 -9.98914696e-03 1.50990581e+02] [ 1.20137849e-02 1.69656590e-04 9.99927817e-01 4.19851107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.560281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:314.93, Y:151.04, Z:4.20 [[ 5.69025045e-01 -8.22293102e-01 -6.67477874e-03 3.14927125e+02] [ 8.22232435e-01 5.69064158e-01 -9.99035209e-03 1.51040398e+02] [ 1.20133750e-02 1.96540970e-04 9.99927817e-01 4.20387462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.620281693 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:314.95, Y:151.09, Z:4.20 [[ 5.67878237e-01 -8.23085527e-01 -6.67255452e-03 3.14953247e+02] [ 8.23024897e-01 5.67917408e-01 -9.99183743e-03 1.51089219e+02] [ 1.20135966e-02 1.82468522e-04 9.99927818e-01 4.20289724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.680281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:314.98, Y:151.14, Z:4.20 [[ 5.64983614e-01 -8.25075162e-01 -6.67024772e-03 3.14981144e+02] [ 8.25014652e-01 5.65022970e-01 -9.99337715e-03 1.51138285e+02] [ 1.20141304e-02 1.43042243e-04 9.99927818e-01 4.20384919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.740281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:315.01, Y:151.19, Z:4.20 [[ 5.63599222e-01 -8.26021461e-01 -6.66807239e-03 3.15010707e+02] [ 8.25960999e-01 5.63638653e-01 -9.99482842e-03 1.51185839e+02] [ 1.20143261e-02 1.25509794e-04 9.99927818e-01 4.20394644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.800281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:315.03, Y:151.24, Z:4.20 [[ 5.61144726e-01 -8.27690863e-01 -6.66568519e-03 3.15033449e+02] [ 8.27630501e-01 5.61184307e-01 -9.99642023e-03 1.51236782e+02] [ 1.20146236e-02 9.27141188e-05 9.99927818e-01 4.19757333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.860281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:315.06, Y:151.29, Z:4.20 [[ 5.59977754e-01 -8.28480844e-01 -6.66379197e-03 3.15059612e+02] [ 8.28420522e-01 5.60017397e-01 -9.99768212e-03 1.51287466e+02] [ 1.20147276e-02 7.80575578e-05 9.99927818e-01 4.20024561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92028169299994 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:315.08, Y:151.34, Z:4.20 [[ 5.55910227e-01 -8.31215643e-01 -6.66144688e-03 3.15084291e+02] [ 8.31155497e-01 5.55950137e-01 -9.99924441e-03 1.51337995e+02] [ 1.20149607e-02 2.19840360e-05 9.99927818e-01 4.20104067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98028169299994 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:315.11, Y:151.39, Z:4.20 [[ 5.47497302e-01 -8.36780952e-01 -6.65901077e-03 3.15109858e+02] [ 8.36721192e-01 5.47537788e-01 -1.00008665e-02 1.51388364e+02] [ 1.20145946e-02 -9.62880189e-05 9.99927818e-01 4.20425269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:315.14, Y:151.44, Z:4.21 [[ 5.41612676e-01 -8.40601807e-01 -6.65672318e-03 3.15139604e+02] [ 8.40542314e-01 5.41653552e-01 -1.00023889e-02 1.51435803e+02] [ 1.20136639e-02 -1.77836890e-04 9.99927818e-01 4.20747916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10028169299994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:315.17, Y:151.48, Z:4.20 [[ 5.31934422e-01 -8.46759404e-01 -6.65446125e-03 3.15173088e+02] [ 8.46700366e-01 5.31975952e-01 -1.00038935e-02 1.51480981e+02] [ 1.20109043e-02 -3.12919472e-04 9.99927818e-01 4.20317812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:315.21, Y:151.53, Z:4.20 [[ 5.28736063e-01 -8.48760228e-01 -6.65223141e-03 3.15207338e+02] [ 8.48701327e-01 5.28777789e-01 -1.00053760e-02 1.51525928e+02] [ 1.20097175e-02 -3.55554495e-04 9.99927818e-01 4.20368230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22028169299995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:315.24, Y:151.57, Z:4.20 [[ 5.23595731e-01 -8.51940894e-01 -6.65003229e-03 3.15244968e+02] [ 8.51882229e-01 5.23637787e-01 -1.00068375e-02 1.51568028e+02] [ 1.20074423e-02 -4.25506951e-04 9.99927818e-01 4.20416593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28028169299995 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:315.28, Y:151.61, Z:4.20 [[ 5.25643385e-01 -8.50679046e-01 -6.64770710e-03 3.15281227e+02] [ 8.50620260e-01 5.25685272e-01 -1.00083819e-02 1.51609932e+02] [ 1.20085225e-02 -3.93834607e-04 9.99927818e-01 4.20132674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34028169299995 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:315.31, Y:151.65, Z:4.20 [[ 5.32966365e-01 -8.46110332e-01 -6.64530197e-03 3.15314778e+02] [ 8.46051167e-01 5.33007714e-01 -1.00099786e-02 1.51654434e+02] [ 1.20115435e-02 -2.87283589e-04 9.99927818e-01 4.19721440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40028169299995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:315.35, Y:151.70, Z:4.20 [[ 5.40396689e-01 -8.41384151e-01 -6.64295560e-03 3.15346894e+02] [ 8.41324605e-01 5.40437488e-01 -1.00115355e-02 1.51700114e+02] [ 1.20136495e-02 -1.78681380e-04 9.99927818e-01 4.20299883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46028169299996 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:315.38, Y:151.75, Z:4.20 [[ 5.43128513e-01 -8.39623319e-01 -6.64081740e-03 3.15377894e+02] [ 8.39563623e-01 5.43169093e-01 -1.00129536e-02 1.51747027e+02] [ 1.20141961e-02 -1.37068133e-04 9.99927818e-01 4.20368021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:315.41, Y:151.79, Z:4.20 [[ 5.46145833e-01 -8.37663810e-01 -6.63855700e-03 3.15409088e+02] [ 8.37603950e-01 5.46186171e-01 -1.00144520e-02 1.51792999e+02] [ 1.20146320e-02 -9.11303451e-05 9.99927818e-01 4.19669344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58028169299996 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:315.44, Y:151.84, Z:4.20 [[ 5.46017754e-01 -8.37747321e-01 -6.63620748e-03 3.15439115e+02] [ 8.37687448e-01 5.46058072e-01 -1.00160087e-02 1.51839121e+02] [ 1.20146391e-02 -9.01491498e-05 9.99927818e-01 4.19633310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64028169299996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:315.47, Y:151.88, Z:4.20 [[ 5.44862287e-01 -8.38499303e-01 -6.63378362e-03 3.15470018e+02] [ 8.38439466e-01 5.44902660e-01 -1.00176138e-02 1.51884566e+02] [ 1.20145285e-02 -1.03806030e-04 9.99927818e-01 4.19519453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70028169299997 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:315.50, Y:151.93, Z:4.20 [[ 5.44025763e-01 -8.39042309e-01 -6.63126889e-03 3.15503207e+02] [ 8.38982492e-01 5.44066165e-01 -1.00192782e-02 1.51928746e+02] [ 1.20144473e-02 -1.12773059e-04 9.99927818e-01 4.19826574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76028169299997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:315.54, Y:151.97, Z:4.20 [[ 5.44246940e-01 -8.38898877e-01 -6.62895877e-03 3.15537011e+02] [ 8.38839031e-01 5.44287299e-01 -1.00208064e-02 1.51973350e+02] [ 1.20145013e-02 -1.06836157e-04 9.99927818e-01 4.20339638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82028169299997 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:315.57, Y:152.02, Z:4.20 [[ 5.45752776e-01 -8.37920040e-01 -6.62671674e-03 3.15570678e+02] [ 8.37860104e-01 5.45793000e-01 -1.00222888e-02 1.52017815e+02] [ 1.20146922e-02 -8.25696452e-05 9.99927818e-01 4.20259776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.880281693 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:315.60, Y:152.06, Z:4.20 [[ 5.46982747e-01 -8.37117669e-01 -6.62437778e-03 3.15603853e+02] [ 8.37057656e-01 5.47022855e-01 -1.00238345e-02 1.52063146e+02] [ 1.20148150e-02 -6.21215989e-05 9.99927818e-01 4.20261093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.940281693 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:315.64, Y:152.11, Z:4.20 [[ 5.46504003e-01 -8.37430310e-01 -6.62197360e-03 3.15637840e+02] [ 8.37370300e-01 5.46544117e-01 -1.00254225e-02 1.52108255e+02] [ 1.20147934e-02 -6.61104825e-05 9.99927818e-01 4.20219671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.000281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:315.67, Y:152.15, Z:4.20 [[ 5.47738428e-01 -8.36623450e-01 -6.61948182e-03 3.15669310e+02] [ 8.36563361e-01 5.47778424e-01 -1.00270675e-02 1.52154017e+02] [ 1.20148891e-02 -4.54057714e-05 9.99927818e-01 4.20182099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.060281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:315.70, Y:152.20, Z:4.20 [[ 5.49564489e-01 -8.35425095e-01 -6.61690174e-03 3.15702483e+02] [ 8.35364898e-01 5.49604322e-01 -1.00287698e-02 1.52199522e+02] [ 1.20149638e-02 -1.60716870e-05 9.99927818e-01 4.20221848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.120281693 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:315.73, Y:152.25, Z:4.20 [[ 5.48189506e-01 -8.36327995e-01 -6.61449500e-03 3.15733886e+02] [ 8.36267844e-01 5.48229409e-01 -1.00303569e-02 1.52245158e+02] [ 1.20149290e-02 -3.29530715e-05 9.99927818e-01 4.19863482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.180281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:315.77, Y:152.29, Z:4.20 [[ 5.47919055e-01 -8.36505220e-01 -6.61258326e-03 3.15768016e+02] [ 8.36445067e-01 5.47958955e-01 -1.00316171e-02 1.52289559e+02] [ 1.20149243e-02 -3.45484891e-05 9.99927818e-01 4.20210518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.240281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:315.80, Y:152.34, Z:4.20 [[ 5.47652632e-01 -8.36679686e-01 -6.61037431e-03 3.15799054e+02] [ 8.36619529e-01 5.47692524e-01 -1.00330725e-02 1.52335388e+02] [ 1.20149205e-02 -3.57296899e-05 9.99927818e-01 4.19984133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.300281693 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:315.83, Y:152.38, Z:4.20 [[ 5.46192197e-01 -8.37633822e-01 -6.60798000e-03 3.15831289e+02] [ 8.37573715e-01 5.46232165e-01 -1.00346492e-02 1.52381586e+02] [ 1.20148528e-02 -5.38232738e-05 9.99927818e-01 4.20157728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.360281693 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:315.86, Y:152.43, Z:4.20 [[ 5.45108991e-01 -8.38339165e-01 -6.60556659e-03 3.15864168e+02] [ 8.38279090e-01 5.45149008e-01 -1.00362376e-02 1.52427040e+02] [ 1.20147891e-02 -6.64649975e-05 9.99927818e-01 4.20358959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42028169299994 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:315.90, Y:152.47, Z:4.20 [[ 5.44368465e-01 -8.38820226e-01 -6.60316421e-03 3.15900409e+02] [ 8.38760168e-01 5.44408507e-01 -1.00378180e-02 1.52470682e+02] [ 1.20147435e-02 -7.41995628e-05 9.99927818e-01 4.20114692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48028169299994 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:315.94, Y:152.51, Z:4.20 [[ 5.43997573e-01 -8.39060827e-01 -6.60076848e-03 3.15935356e+02] [ 8.39000767e-01 5.44037612e-01 -1.00393931e-02 1.52514540e+02] [ 1.20147278e-02 -7.66443244e-05 9.99927818e-01 4.20151492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54028169299994 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:315.97, Y:152.56, Z:4.20 [[ 5.49794344e-01 -8.35273991e-01 -6.59839062e-03 3.15970610e+02] [ 8.35213637e-01 5.49833938e-01 -1.00409557e-02 1.52558817e+02] [ 1.20149683e-02 9.39484892e-06 9.99927818e-01 4.20243232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60028169299994 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:316.00, Y:152.60, Z:4.20 [[ 5.53556618e-01 -8.32785425e-01 -6.59599368e-03 3.16002653e+02] [ 8.32724874e-01 5.53595910e-01 -1.00425301e-02 1.52603381e+02] [ 1.20147878e-02 6.64609653e-05 9.99927818e-01 4.20308337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66028169299994 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:316.04, Y:152.65, Z:4.21 [[ 5.59366884e-01 -8.28893971e-01 -6.59350866e-03 3.16037351e+02] [ 8.28833127e-01 5.59405722e-01 -1.00441614e-02 1.52647982e+02] [ 1.20139913e-02 1.53452848e-04 9.99927818e-01 4.20580251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72028169299995 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:316.07, Y:152.70, Z:4.21 [[ 5.65392711e-01 -8.24795513e-01 -6.59117316e-03 3.16065843e+02] [ 8.24734370e-01 5.65431076e-01 -1.00456937e-02 1.52697132e+02] [ 1.20124972e-02 2.43794971e-04 9.99927818e-01 4.20538515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78028169299995 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:316.09, Y:152.75, Z:4.21 [[ 5.70058623e-01 -8.21577600e-01 -6.58881892e-03 3.16091113e+02] [ 8.21516224e-01 5.70096612e-01 -1.00472376e-02 1.52747575e+02] [ 1.20108487e-02 3.14692800e-04 9.99927818e-01 4.20504141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84028169299995 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:316.11, Y:152.80, Z:4.21 [[ 5.71847483e-01 -8.20333514e-01 -6.58647359e-03 3.16114616e+02] [ 8.20272037e-01 5.71885309e-01 -1.00487748e-02 1.52799403e+02] [ 1.20100543e-02 3.43666491e-04 9.99927818e-01 4.20769305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90028169299995 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:316.14, Y:152.85, Z:4.21 [[ 5.71139370e-01 -8.20826693e-01 -6.58485566e-03 3.16139936e+02] [ 8.20765236e-01 5.71177230e-01 -1.00498349e-02 1.52850721e+02] [ 1.20102924e-02 3.35235786e-04 9.99927818e-01 4.20584139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96028169299996 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:316.16, Y:152.91, Z:4.21 [[ 5.69139657e-01 -8.22214519e-01 -6.58299204e-03 3.16158751e+02] [ 8.22153140e-01 5.69177644e-01 -1.00510555e-02 1.52906374e+02] [ 1.20110157e-02 3.08226727e-04 9.99927818e-01 4.20952644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02028169299996 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:316.18, Y:152.96, Z:4.21 [[ 5.68272273e-01 -8.22814266e-01 -6.58089572e-03 3.16179202e+02] [ 8.22752911e-01 5.68310299e-01 -1.00524279e-02 1.52960133e+02] [ 1.20112719e-02 2.98064947e-04 9.99927818e-01 4.21316513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08028169299996 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:316.20, Y:153.01, Z:4.21 [[ 5.64606036e-01 -8.25334323e-01 -6.57870315e-03 3.16199406e+02] [ 8.25273122e-01 5.64644307e-01 -1.00538626e-02 1.53014113e+02] [ 1.20124252e-02 2.47244628e-04 9.99927818e-01 4.21282213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14028169299996 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:316.22, Y:153.07, Z:4.21 [[ 5.58885032e-01 -8.29219074e-01 -6.57643863e-03 3.16224870e+02] [ 8.29158121e-01 5.58923698e-01 -1.00553437e-02 1.53065110e+02] [ 1.20138101e-02 1.66873552e-04 9.99927818e-01 4.21248608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20028169299997 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:316.25, Y:153.11, Z:4.21 [[ 5.48697786e-01 -8.35994928e-01 -6.57411336e-03 3.16253070e+02] [ 8.35934435e-01 5.48737168e-01 -1.00568637e-02 1.53114202e+02] [ 1.20149474e-02 2.26510950e-05 9.99927818e-01 4.21182232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26028169299997 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:316.29, Y:153.16, Z:4.21 [[ 5.44026042e-01 -8.39042596e-01 -6.57177741e-03 3.16285568e+02] [ 8.38982305e-01 5.44065732e-01 -1.00583899e-02 1.53160958e+02] [ 1.20148965e-02 -4.15789247e-05 9.99927818e-01 4.20592386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.32028169299997 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:316.32, Y:153.21, Z:4.21 [[ 5.48386217e-01 -8.36199376e-01 -6.56968068e-03 3.16316933e+02] [ 8.36138863e-01 5.48425567e-01 -1.00597592e-02 1.53208462e+02] [ 1.20149452e-02 2.34679470e-05 9.99927818e-01 4.21028010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.380281693 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:316.35, Y:153.26, Z:4.21 [[ 5.57552718e-01 -8.30115554e-01 -6.56760278e-03 3.16347706e+02] [ 8.30054596e-01 5.57591375e-01 -1.00611156e-02 1.53255695e+02] [ 1.20139272e-02 1.58133468e-04 9.99927818e-01 4.20935341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.440281693 meters Centerline goodness : 0.999471 with order 1 Centerline is valid? [True, True] Translation: X:316.38, Y:153.31, Z:4.20 [[ 5.64469373e-01 -8.25427903e-01 -6.56529570e-03 3.16377193e+02] [ 8.25366607e-01 5.64507492e-01 -1.00626208e-02 1.53305134e+02] [ 1.20121266e-02 2.61265441e-04 9.99927818e-01 4.20494478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.500281693 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:316.41, Y:153.35, Z:4.21 [[ 5.67843292e-01 -8.23110515e-01 -6.56325056e-03 3.16406577e+02] [ 8.23049047e-01 5.67881134e-01 -1.00639546e-02 1.53353011e+02] [ 1.20108930e-02 3.12871974e-04 9.99927818e-01 4.20512723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.560281693 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:316.43, Y:153.41, Z:4.21 [[ 5.75651711e-01 -8.17668674e-01 -6.56098532e-03 3.16428218e+02] [ 8.17606833e-01 5.75688939e-01 -1.00654311e-02 1.53407951e+02] [ 1.20072744e-02 4.29876227e-04 9.99927818e-01 4.21279765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.620281693 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:316.45, Y:153.46, Z:4.22 [[ 5.77456577e-01 -8.16395052e-01 -6.55900583e-03 3.16452956e+02] [ 8.16333114e-01 5.77493643e-01 -1.00667209e-02 1.53460099e+02] [ 1.20062053e-02 4.58760519e-04 9.99927818e-01 4.21655557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.680281693 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:316.47, Y:153.51, Z:4.22 [[ 5.76065775e-01 -8.17377042e-01 -6.55693572e-03 3.16474943e+02] [ 8.17315152e-01 5.76102922e-01 -1.00680691e-02 1.53513435e+02] [ 1.20068783e-02 4.40787099e-04 9.99927818e-01 4.21910188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.740281693 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:316.50, Y:153.57, Z:4.22 [[ 5.68377768e-01 -8.22741605e-01 -6.55476158e-03 3.16498752e+02] [ 8.22680049e-01 5.68415466e-01 -1.00694843e-02 1.53565564e+02] [ 1.20104116e-02 3.30799446e-04 9.99927818e-01 4.21522863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.800281693 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:316.52, Y:153.62, Z:4.21 [[ 5.58409970e-01 -8.29539251e-01 -6.55260177e-03 3.16524789e+02] [ 8.29478138e-01 5.58448382e-01 -1.00708896e-02 1.53616855e+02] [ 1.20134881e-02 1.88445243e-04 9.99927818e-01 4.21330688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.860281693 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:316.55, Y:153.66, Z:4.21 [[ 5.52378572e-01 -8.33567637e-01 -6.55043256e-03 3.16552779e+02] [ 8.33506787e-01 5.52417401e-01 -1.00723003e-02 1.53664771e+02] [ 1.20145165e-02 1.03892871e-04 9.99927818e-01 4.21344933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92028169299994 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:316.58, Y:153.71, Z:4.22 [[ 5.45411336e-01 -8.38142942e-01 -6.54851109e-03 3.16583370e+02] [ 8.38082403e-01 5.45450647e-01 -1.00735494e-02 1.53712663e+02] [ 1.20149640e-02 6.03613808e-06 9.99927818e-01 4.21867059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98028169299994 meters Centerline goodness : 0.999534 with order 1 Centerline is valid? [True, True] Translation: X:316.62, Y:153.76, Z:4.22 [[ 5.41251591e-01 -8.40835216e-01 -6.54638027e-03 3.16615328e+02] [ 8.40774856e-01 5.41291176e-01 -1.00749340e-02 1.53759131e+02] [ 1.20148571e-02 -5.09578945e-05 9.99927818e-01 4.21961627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04028169299994 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:316.65, Y:153.81, Z:4.22 [[ 5.40710955e-01 -8.41183000e-01 -6.54401794e-03 3.16647266e+02] [ 8.41122647e-01 5.40750550e-01 -1.00764681e-02 1.53805239e+02] [ 1.20148350e-02 -5.58649931e-05 9.99927818e-01 4.22114132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10028169299994 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:316.68, Y:153.85, Z:4.22 [[ 5.41272301e-01 -8.40821922e-01 -6.54162309e-03 3.16678679e+02] [ 8.40761523e-01 5.41311827e-01 -1.00780226e-02 1.53850715e+02] [ 1.20148803e-02 -4.49905006e-05 9.99927818e-01 4.22239700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16028169299994 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:153.90, Z:4.22 [[ 5.42025306e-01 -8.40336723e-01 -6.53914268e-03 3.16707069e+02] [ 8.40276270e-01 5.42064749e-01 -1.00796318e-02 1.53898790e+02] [ 1.20149235e-02 -3.12709174e-05 9.99927818e-01 4.22468240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22028169299995 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:316.74, Y:153.95, Z:4.22 [[ 5.44486882e-01 -8.38743886e-01 -6.53676410e-03 3.16736607e+02] [ 8.38683299e-01 5.44526119e-01 -1.00811741e-02 1.53946247e+02] [ 1.20149619e-02 6.79217156e-06 9.99927818e-01 4.22436933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28028169299995 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:316.76, Y:154.00, Z:4.22 [[ 5.47029174e-01 -8.37088039e-01 -6.53437635e-03 3.16763338e+02] [ 8.37027315e-01 5.47068198e-01 -1.00827215e-02 1.53995577e+02] [ 1.20148751e-02 4.60913451e-05 9.99927818e-01 4.22281577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34028169299995 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:316.79, Y:154.04, Z:4.22 [[ 5.46390729e-01 -8.37504928e-01 -6.53196862e-03 3.16790592e+02] [ 8.37444215e-01 5.46429770e-01 -1.00842811e-02 1.54043539e+02] [ 1.20148972e-02 3.97983701e-05 9.99927818e-01 4.21982895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40028169299995 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:316.82, Y:154.09, Z:4.22 [[ 5.43286155e-01 -8.39522197e-01 -6.52946426e-03 3.16821521e+02] [ 8.39461610e-01 5.43325391e-01 -1.00859024e-02 1.54091176e+02] [ 1.20149627e-02 -1.70343806e-06 9.99927818e-01 4.22479782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46028169299996 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:316.85, Y:154.14, Z:4.23 [[ 5.40673034e-01 -8.41207504e-01 -6.52730447e-03 3.16852157e+02] [ 8.41147022e-01 5.40712432e-01 -1.00873000e-02 1.54138586e+02] [ 1.20149071e-02 -3.64916383e-05 9.99927818e-01 4.22734368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52028169299996 meters Centerline goodness : 0.999336 with order 1 Centerline is valid? [True, True] Translation: X:316.88, Y:154.19, Z:4.23 [[ 5.42048636e-01 -8.40321785e-01 -6.52486722e-03 3.16880854e+02] [ 8.40261220e-01 5.42087905e-01 -1.00888762e-02 1.54186433e+02] [ 1.20149541e-02 -1.39312908e-05 9.99927818e-01 4.22957002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58028169299996 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:316.91, Y:154.23, Z:4.23 [[ 5.46619511e-01 -8.37355701e-01 -6.52233425e-03 3.16910534e+02] [ 8.37294903e-01 5.46658419e-01 -1.00905135e-02 1.54234797e+02] [ 1.20148379e-02 5.45543341e-05 9.99927818e-01 4.22771442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64028169299996 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:316.94, Y:154.28, Z:4.23 [[ 5.48533503e-01 -8.36103155e-01 -6.51990248e-03 3.16939430e+02] [ 8.36042250e-01 5.48572244e-01 -1.00920845e-02 1.54283338e+02] [ 1.20146612e-02 8.49325384e-05 9.99927818e-01 4.23423685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70028169299997 meters Centerline goodness : 0.999419 with order 1 Centerline is valid? [True, True] Translation: X:316.97, Y:154.33, Z:4.24 [[ 5.48053291e-01 -8.36418020e-01 -6.51821069e-03 3.16968887e+02] [ 8.36357123e-01 5.48092045e-01 -1.00931771e-02 1.54331653e+02] [ 1.20146946e-02 8.00469646e-05 9.99927818e-01 4.23884393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76028169299997 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:317.00, Y:154.38, Z:4.24 [[ 5.45750555e-01 -8.37922351e-01 -6.51652182e-03 3.16997935e+02] [ 8.37861548e-01 5.45789457e-01 -1.00942674e-02 1.54378906e+02] [ 1.20148611e-02 4.90089601e-05 9.99927818e-01 4.23937648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.82028169299997 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:317.03, Y:154.43, Z:4.24 [[ 5.42433425e-01 -8.40073537e-01 -6.51402174e-03 3.17029128e+02] [ 8.40012869e-01 5.42472537e-01 -1.00958804e-02 1.54425649e+02] [ 1.20149599e-02 4.48091832e-06 9.99927818e-01 4.23767070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.880281693 meters Centerline goodness : 0.999365 with order 1 Centerline is valid? [True, True] Translation: X:317.06, Y:154.47, Z:4.24 [[ 5.38189068e-01 -8.42798983e-01 -6.51166331e-03 3.17061581e+02] [ 8.42738495e-01 5.38228457e-01 -1.00974014e-02 1.54470150e+02] [ 1.20148421e-02 -5.33183055e-05 9.99927818e-01 4.23576791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.940281693 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:317.10, Y:154.52, Z:4.24 [[ 5.36534984e-01 -8.43852973e-01 -6.50921710e-03 3.17096102e+02] [ 8.43792544e-01 5.36574463e-01 -1.00989781e-02 1.54515288e+02] [ 1.20147323e-02 -7.39738169e-05 9.99927818e-01 4.23983323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.000281693 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:317.13, Y:154.56, Z:4.23 [[ 5.37247428e-01 -8.43399584e-01 -6.50715460e-03 3.17127126e+02] [ 8.43339105e-01 5.37286830e-01 -1.01003068e-02 1.54563081e+02] [ 1.20148030e-02 -6.13740716e-05 9.99927818e-01 4.23379216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.060281693 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:317.16, Y:154.61, Z:4.24 [[ 5.42249105e-01 -8.40192592e-01 -6.50509896e-03 3.17157225e+02] [ 8.40131864e-01 5.42288123e-01 -1.01016306e-02 1.54611491e+02] [ 1.20149531e-02 1.24592338e-05 9.99927818e-01 4.23878029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.120281693 meters Centerline goodness : 0.999283 with order 1 Centerline is valid? [True, True] Translation: X:317.18, Y:154.66, Z:4.24 [[ 5.44628061e-01 -8.38652484e-01 -6.50286474e-03 3.17183283e+02] [ 8.38591628e-01 5.44666879e-01 -1.01030686e-02 1.54661961e+02] [ 1.20148587e-02 4.91667563e-05 9.99927818e-01 4.23902671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.180281693 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:317.21, Y:154.71, Z:4.24 [[ 5.46123471e-01 -8.37679470e-01 -6.50076582e-03 3.17211347e+02] [ 8.37618529e-01 5.46162156e-01 -1.01044190e-02 1.54710931e+02] [ 1.20147366e-02 7.30984826e-05 9.99927818e-01 4.23858037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.240281693 meters Centerline goodness : 0.999426 with order 1 Centerline is valid? [True, True] Translation: X:317.24, Y:154.76, Z:4.24 [[ 5.46950261e-01 -8.37139882e-01 -6.49846218e-03 3.17236831e+02] [ 8.37078885e-01 5.46988858e-01 -1.01059003e-02 1.54762436e+02] [ 1.20146386e-02 8.76993490e-05 9.99927818e-01 4.24289759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.300281693 meters Centerline goodness : 0.999427 with order 1 Centerline is valid? [True, True] Translation: X:317.26, Y:154.81, Z:4.24 [[ 5.49591367e-01 -8.35408359e-01 -6.49638857e-03 3.17261984e+02] [ 8.35347225e-01 5.49629745e-01 -1.01072331e-02 1.54811638e+02] [ 1.20142754e-02 1.28107901e-04 9.99927818e-01 4.23955300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.360281693 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:317.29, Y:154.86, Z:4.25 [[ 5.53200333e-01 -8.33022936e-01 -6.49456192e-03 3.17287784e+02] [ 8.32961623e-01 5.53238424e-01 -1.01084067e-02 1.54863747e+02] [ 1.20135759e-02 1.82253129e-04 9.99927818e-01 4.25144380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42028169299994 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:317.32, Y:154.91, Z:4.25 [[ 5.53889201e-01 -8.32565073e-01 -6.49253313e-03 3.17316246e+02] [ 8.32503713e-01 5.53927217e-01 -1.01097096e-02 1.54912644e+02] [ 1.20133820e-02 1.94601062e-04 9.99927818e-01 4.25243067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48028169299994 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:317.34, Y:154.96, Z:4.25 [[ 5.52943650e-01 -8.33193374e-01 -6.49014911e-03 3.17341910e+02] [ 8.33132039e-01 5.52981707e-01 -1.01112399e-02 1.54962916e+02] [ 1.20135518e-02 1.83794720e-04 9.99927818e-01 4.25033757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.54028169299994 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:317.37, Y:155.01, Z:4.25 [[ 5.48926131e-01 -8.35845687e-01 -6.48777740e-03 3.17368487e+02] [ 8.35784518e-01 5.48964454e-01 -1.01127614e-02 1.55012510e+02] [ 1.20142672e-02 1.28775106e-04 9.99927818e-01 4.24976381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60028169299994 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:317.40, Y:155.06, Z:4.25 [[ 5.46576245e-01 -8.37384230e-01 -6.48536471e-03 3.17395076e+02] [ 8.37323151e-01 5.46614711e-01 -1.01143085e-02 1.55060620e+02] [ 1.20145582e-02 9.78947392e-05 9.99927818e-01 4.24989898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66028169299994 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:317.42, Y:155.11, Z:4.26 [[ 5.45467916e-01 -8.38106631e-01 -6.48285288e-03 3.17423263e+02] [ 8.38045584e-01 5.45506432e-01 -1.01159182e-02 1.55110289e+02] [ 1.20146561e-02 8.49825879e-05 9.99927818e-01 4.25899128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72028169299995 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:317.45, Y:155.16, Z:4.26 [[ 5.44662938e-01 -8.38630005e-01 -6.48070425e-03 3.17449845e+02] [ 8.38568978e-01 5.44701486e-01 -1.01172945e-02 1.55159944e+02] [ 1.20147160e-02 7.59978154e-05 9.99927818e-01 4.25674346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78028169299995 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:317.48, Y:155.21, Z:4.25 [[ 5.41058428e-01 -8.40960052e-01 -6.47832854e-03 3.17481673e+02] [ 8.40899173e-01 5.41097210e-01 -1.01188155e-02 1.55206933e+02] [ 1.20149251e-02 2.72493009e-05 9.99927818e-01 4.25456502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84028169299995 meters Centerline goodness : 0.999421 with order 1 Centerline is valid? [True, True] Translation: X:317.51, Y:155.25, Z:4.25 [[ 5.33921614e-01 -8.45509180e-01 -6.47593666e-03 3.17513084e+02] [ 8.45448613e-01 5.33960881e-01 -1.01203461e-02 1.55254024e+02] [ 1.20147423e-02 -7.16001627e-05 9.99927818e-01 4.25046615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90028169299995 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:317.54, Y:155.30, Z:4.25 [[ 5.29488318e-01 -8.48292527e-01 -6.47380704e-03 3.17542083e+02] [ 8.48232149e-01 5.29527877e-01 -1.01217082e-02 1.55301897e+02] [ 1.20142307e-02 -1.31965026e-04 9.99927818e-01 4.25271763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96028169299996 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:317.57, Y:155.35, Z:4.25 [[ 5.27789805e-01 -8.49350365e-01 -6.47141095e-03 3.17571503e+02] [ 8.49290048e-01 5.27829455e-01 -1.01232399e-02 1.55349691e+02] [ 1.20139788e-02 -1.53162123e-04 9.99927818e-01 4.25439618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02028169299996 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:317.60, Y:155.40, Z:4.26 [[ 5.25389807e-01 -8.50837059e-01 -6.46915588e-03 3.17604481e+02] [ 8.50776837e-01 5.25429600e-01 -1.01246808e-02 1.55395857e+02] [ 1.20135396e-02 -1.84403915e-04 9.99927818e-01 4.26055734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08028169299996 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:317.63, Y:155.44, Z:4.26 [[ 5.24883215e-01 -8.51149686e-01 -6.46701040e-03 3.17634518e+02] [ 8.51089471e-01 5.24923019e-01 -1.01260510e-02 1.55442207e+02] [ 1.20134677e-02 -1.89010265e-04 9.99927818e-01 4.26136429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14028169299996 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:317.67, Y:155.49, Z:4.27 [[ 5.27002457e-01 -8.49839173e-01 -6.46453763e-03 3.17665565e+02] [ 8.49778839e-01 5.27042081e-01 -1.01276294e-02 1.55489432e+02] [ 1.20139395e-02 -1.56141736e-04 9.99927818e-01 4.26500588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20028169299997 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:317.69, Y:155.54, Z:4.27 [[ 5.29227325e-01 -8.48455466e-01 -6.46220432e-03 3.17693903e+02] [ 8.48395011e-01 5.29266763e-01 -1.01291180e-02 1.55538184e+02] [ 1.20143355e-02 -1.21895897e-04 9.99927818e-01 4.26600929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26028169299997 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:317.72, Y:155.59, Z:4.27 [[ 5.31274537e-01 -8.47175092e-01 -6.45988741e-03 3.17722730e+02] [ 8.47114523e-01 5.31313801e-01 -1.01305954e-02 1.55586406e+02] [ 1.20146154e-02 -9.01370730e-05 9.99927818e-01 4.26752982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.32028169299997 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:317.75, Y:155.63, Z:4.27 [[ 5.28073827e-01 -8.49173912e-01 -6.45749526e-03 3.17749999e+02] [ 8.49113474e-01 5.28113292e-01 -1.01321200e-02 1.55634718e+02] [ 1.20142210e-02 -1.32638861e-04 9.99927818e-01 4.26973076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.380281693 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:317.78, Y:155.68, Z:4.27 [[ 5.23783820e-01 -8.51826768e-01 -6.45501661e-03 3.17780417e+02] [ 8.51766510e-01 5.23823559e-01 -1.01336988e-02 1.55682385e+02] [ 1.20134457e-02 -1.90299486e-04 9.99927818e-01 4.26854693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.440281693 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:317.81, Y:155.73, Z:4.27 [[ 5.25613196e-01 -8.50699202e-01 -6.45263411e-03 3.17811990e+02] [ 8.50638840e-01 5.25652777e-01 -1.01352157e-02 1.55731421e+02] [ 1.20138649e-02 -1.61658100e-04 9.99927818e-01 4.27247314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.500281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:317.85, Y:155.78, Z:4.27 [[ 5.28325700e-01 -8.49017281e-01 -6.45067174e-03 3.17845016e+02] [ 8.48956778e-01 5.28365065e-01 -1.01364645e-02 1.55776765e+02] [ 1.20143431e-02 -1.20986804e-04 9.99927818e-01 4.27094549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.560281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:317.88, Y:155.82, Z:4.27 [[ 5.32757879e-01 -8.46243146e-01 -6.44835477e-03 3.17877031e+02] [ 8.46182419e-01 5.32796899e-01 -1.01379382e-02 1.55821499e+02] [ 1.20148241e-02 -5.54179890e-05 9.99927818e-01 4.27046368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.620281693 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:317.91, Y:155.87, Z:4.27 [[ 5.38095044e-01 -8.42859522e-01 -6.44587122e-03 3.17909802e+02] [ 8.42798532e-01 5.38133650e-01 -1.01395171e-02 1.55866945e+02] [ 1.20149287e-02 2.34530766e-05 9.99927818e-01 4.27117678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.680281693 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:317.94, Y:155.92, Z:4.27 [[ 5.42572328e-01 -8.39984375e-01 -6.44351103e-03 3.17938769e+02] [ 8.39923162e-01 5.42610581e-01 -1.01410167e-02 1.55915490e+02] [ 1.20146128e-02 9.01808888e-05 9.99927818e-01 4.27383647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.740281693 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:317.97, Y:155.96, Z:4.28 [[ 5.42573129e-01 -8.39983875e-01 -6.44114628e-03 3.17969684e+02] [ 8.39922645e-01 5.42611353e-01 -1.01425185e-02 1.55963556e+02] [ 1.20145911e-02 9.29933625e-05 9.99927818e-01 4.27686751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.800281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:318.00, Y:156.01, Z:4.28 [[ 5.40628035e-01 -8.41237105e-01 -6.43902938e-03 3.17999638e+02] [ 8.41175947e-01 5.40666375e-01 -1.01438622e-02 1.56012282e+02] [ 1.20147599e-02 6.76996530e-05 9.99927818e-01 4.28224504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.860281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:318.03, Y:156.06, Z:4.28 [[ 5.38210601e-01 -8.42785807e-01 -6.43686622e-03 3.18028198e+02] [ 8.42724742e-01 5.38249090e-01 -1.01452347e-02 1.56060153e+02] [ 1.20148972e-02 3.57664200e-05 9.99927818e-01 4.28459557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92028169299994 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:318.06, Y:156.11, Z:4.28 [[ 5.33994916e-01 -8.45463204e-01 -6.43436880e-03 3.18057655e+02] [ 8.45402313e-01 5.34033679e-01 -1.01468183e-02 1.56106983e+02] [ 1.20149312e-02 -2.12808650e-05 9.99927818e-01 4.28465028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.98028169299994 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:318.09, Y:156.15, Z:4.28 [[ 5.31349433e-01 -8.47128332e-01 -6.43191802e-03 3.18090272e+02] [ 8.47067544e-01 5.31388358e-01 -1.01483716e-02 1.56154199e+02] [ 1.20148195e-02 -5.59374890e-05 9.99927818e-01 4.28379491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.04028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:318.12, Y:156.20, Z:4.29 [[ 5.31638793e-01 -8.46946783e-01 -6.42971928e-03 3.18122335e+02] [ 8.46885965e-01 5.31677670e-01 -1.01497645e-02 1.56201075e+02] [ 1.20148486e-02 -4.92304748e-05 9.99927818e-01 4.28762237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.10028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:318.15, Y:156.25, Z:4.28 [[ 5.35570707e-01 -8.44465929e-01 -6.42748532e-03 3.18154028e+02] [ 8.44404914e-01 5.35609274e-01 -1.01511790e-02 1.56246968e+02] [ 1.20149455e-02 9.27391036e-06 9.99927818e-01 4.28381928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16028169299994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:318.18, Y:156.29, Z:4.28 [[ 5.40080088e-01 -8.41589097e-01 -6.42576475e-03 3.18184730e+02] [ 8.41527864e-01 5.40118308e-01 -1.01522680e-02 1.56292663e+02] [ 1.20147112e-02 7.55777211e-05 9.99927818e-01 4.27854359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22028169299995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:318.21, Y:156.34, Z:4.29 [[ 5.47737032e-01 -8.36625892e-01 -6.42336447e-03 3.18213049e+02] [ 8.36564295e-01 5.47774663e-01 -1.01537864e-02 1.56340933e+02] [ 1.20134769e-02 1.88047478e-04 9.99927818e-01 4.28968444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:318.24, Y:156.39, Z:4.29 [[ 5.53327068e-01 -8.32939328e-01 -6.42120410e-03 3.18242629e+02] [ 8.32877464e-01 5.53364258e-01 -1.01551525e-02 1.56389315e+02] [ 1.20118907e-02 2.71044544e-04 9.99927818e-01 4.28752915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34028169299995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:318.27, Y:156.44, Z:4.29 [[ 5.53624337e-01 -8.32741792e-01 -6.41882724e-03 3.18272084e+02] [ 8.32679898e-01 5.53661477e-01 -1.01566546e-02 1.56437498e+02] [ 1.20117281e-02 2.78142759e-04 9.99927818e-01 4.28799775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40028169299995 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:318.30, Y:156.49, Z:4.29 [[ 5.53806793e-01 -8.32620481e-01 -6.41643110e-03 3.18299268e+02] [ 8.32558561e-01 5.53843890e-01 -1.01581681e-02 1.56487130e+02] [ 1.20116000e-02 2.83607865e-04 9.99927818e-01 4.29451422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:318.33, Y:156.54, Z:4.30 [[ 5.56414148e-01 -8.30880349e-01 -6.41417753e-03 3.18326702e+02] [ 8.30818296e-01 5.56451023e-01 -1.01595909e-02 1.56535964e+02] [ 1.20105801e-02 3.23924072e-04 9.99927818e-01 4.29532721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:318.35, Y:156.59, Z:4.30 [[ 5.58165959e-01 -8.29704556e-01 -6.41180555e-03 3.18352206e+02] [ 8.29642409e-01 5.58202674e-01 -1.01610877e-02 1.56586490e+02] [ 1.20097877e-02 3.52067440e-04 9.99927818e-01 4.29500042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58028169299996 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:318.38, Y:156.63, Z:4.29 [[ 5.56741436e-01 -8.30661118e-01 -6.40945583e-03 3.18379493e+02] [ 8.30599016e-01 5.56778229e-01 -1.01625696e-02 1.56634807e+02] [ 1.20102969e-02 3.34235889e-04 9.99927818e-01 4.29427280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64028169299996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:318.41, Y:156.69, Z:4.30 [[ 5.53612094e-01 -8.32750023e-01 -6.40701321e-03 3.18405851e+02] [ 8.32688042e-01 5.53649090e-01 -1.01641093e-02 1.56685368e+02] [ 1.20113993e-02 2.91930560e-04 9.99927818e-01 4.29855666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70028169299997 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:318.43, Y:156.74, Z:4.30 [[ 5.51599905e-01 -8.34084243e-01 -6.40479803e-03 3.18432365e+02] [ 8.34022336e-01 5.51637024e-01 -1.01655050e-02 1.56735316e+02] [ 1.20120113e-02 2.65546971e-04 9.99927818e-01 4.30130844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76028169299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:318.46, Y:156.78, Z:4.30 [[ 5.47077905e-01 -8.37057211e-01 -6.40247657e-03 3.18460068e+02] [ 8.36995489e-01 5.47115330e-01 -1.01669669e-02 1.56784536e+02] [ 1.20132260e-02 2.03278949e-04 9.99927818e-01 4.30345678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.82028169299997 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:318.49, Y:156.83, Z:4.30 [[ 5.42618332e-01 -8.39954989e-01 -6.40009348e-03 3.18489510e+02] [ 8.39893450e-01 5.42656056e-01 -1.01684668e-02 1.56833056e+02] [ 1.20141039e-02 1.42199926e-04 9.99927818e-01 4.29892754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.880281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:318.52, Y:156.88, Z:4.30 [[ 5.35820176e-01 -8.44307887e-01 -6.39771386e-03 3.18518953e+02] [ 8.44246636e-01 5.35858367e-01 -1.01699638e-02 1.56880419e+02] [ 1.20148492e-02 4.80234010e-05 9.99927818e-01 4.29611849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.940281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:318.55, Y:156.92, Z:4.30 [[ 5.33254648e-01 -8.45930601e-01 -6.39524447e-03 3.18552344e+02] [ 8.45869447e-01 5.33292995e-01 -1.01715164e-02 1.56924845e+02] [ 1.20149361e-02 1.44665015e-05 9.99927818e-01 4.29575744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.000281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:318.59, Y:156.97, Z:4.30 [[ 5.33445039e-01 -8.45810571e-01 -6.39284309e-03 3.18587486e+02] [ 8.45749391e-01 5.33483343e-01 -1.01730255e-02 1.56969467e+02] [ 1.20149278e-02 2.00068169e-05 9.99927818e-01 4.30339753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.060281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:318.62, Y:157.01, Z:4.30 [[ 5.35685147e-01 -8.44393620e-01 -6.39044615e-03 3.18622893e+02] [ 8.44332320e-01 5.35723260e-01 -1.01745309e-02 1.57012103e+02] [ 1.20148197e-02 5.46848759e-05 9.99927818e-01 4.30215193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.120281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:318.65, Y:157.06, Z:4.30 [[ 5.38637683e-01 -8.42513284e-01 -6.38854839e-03 3.18653982e+02] [ 8.42451837e-01 5.38675558e-01 -1.01757224e-02 1.57058051e+02] [ 1.20145362e-02 9.89832031e-05 9.99927818e-01 4.30231115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.180281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:318.69, Y:157.10, Z:4.30 [[ 5.43436554e-01 -8.39425952e-01 -6.38609449e-03 3.18687812e+02] [ 8.39364272e-01 5.43474049e-01 -1.01772622e-02 1.57104747e+02] [ 1.20137346e-02 1.70436743e-04 9.99927818e-01 4.30133027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.240281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:318.72, Y:157.15, Z:4.30 [[ 5.43107489e-01 -8.39638911e-01 -6.38385238e-03 3.18718077e+02] [ 8.39577230e-01 5.43144981e-01 -1.01786684e-02 1.57151896e+02] [ 1.20137634e-02 1.68373939e-04 9.99927818e-01 4.30417604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.300281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:318.75, Y:157.20, Z:4.31 [[ 5.42116779e-01 -8.40278926e-01 -6.38151159e-03 3.18746165e+02] [ 8.40217272e-01 5.42154315e-01 -1.01801357e-02 1.57200511e+02] [ 1.20139176e-02 1.56966141e-04 9.99927818e-01 4.30763721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.360281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:318.77, Y:157.25, Z:4.31 [[ 5.40171342e-01 -8.41530884e-01 -6.37912203e-03 3.18774560e+02] [ 8.41469298e-01 5.40208992e-01 -1.01816329e-02 1.57248953e+02] [ 1.20142176e-02 1.31990958e-04 9.99927818e-01 4.31024631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:318.80, Y:157.30, Z:4.31 [[ 5.37705837e-01 -8.43108398e-01 -6.37669291e-03 3.18799117e+02] [ 8.43046905e-01 5.37743637e-01 -1.01831540e-02 1.57298201e+02] [ 1.20145287e-02 9.96901146e-05 9.99927818e-01 4.31355171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48028169299994 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:318.83, Y:157.35, Z:4.31 [[ 5.36065059e-01 -8.44152606e-01 -6.37417035e-03 3.18826412e+02] [ 8.44091168e-01 5.36102949e-01 -1.01847327e-02 1.57348319e+02] [ 1.20146802e-02 7.92984655e-05 9.99927818e-01 4.31247990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54028169299994 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:318.85, Y:157.40, Z:4.31 [[ 5.34094984e-01 -8.45400465e-01 -6.37197305e-03 3.18854245e+02] [ 8.45339099e-01 5.34132990e-01 -1.01861073e-02 1.57398485e+02] [ 1.20148208e-02 5.38708520e-05 9.99927818e-01 4.31401057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60028169299994 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:318.88, Y:157.45, Z:4.31 [[ 5.34344840e-01 -8.45242579e-01 -6.36977422e-03 3.18882988e+02] [ 8.45181186e-01 5.34382802e-01 -1.01874821e-02 1.57446101e+02] [ 1.20147914e-02 6.00151689e-05 9.99927818e-01 4.31218813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66028169299994 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:318.91, Y:157.49, Z:4.31 [[ 5.35958525e-01 -8.44220302e-01 -6.36724064e-03 3.18912782e+02] [ 8.44158817e-01 5.35996338e-01 -1.01890654e-02 1.57493647e+02] [ 1.20146335e-02 8.59541223e-05 9.99927818e-01 4.30991330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72028169299995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:318.94, Y:157.54, Z:4.31 [[ 5.37719231e-01 -8.43099945e-01 -6.36483947e-03 3.18943685e+02] [ 8.43038364e-01 5.37756887e-01 -1.01905651e-02 1.57541153e+02] [ 1.20144011e-02 1.13858970e-04 9.99927818e-01 4.31401342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78028169299995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:318.97, Y:157.59, Z:4.32 [[ 5.43072436e-01 -8.39661747e-01 -6.36240730e-03 3.18973733e+02] [ 8.39599909e-01 5.43109670e-01 -1.01920834e-02 1.57590058e+02] [ 1.20133875e-02 1.93162953e-04 9.99927818e-01 4.31923032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84028169299995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:319.00, Y:157.64, Z:4.32 [[ 5.46249478e-01 -8.37598386e-01 -6.36018644e-03 3.19000290e+02] [ 8.37536391e-01 5.46286451e-01 -1.01934691e-02 1.57640421e+02] [ 1.20125169e-02 2.41289563e-04 9.99927818e-01 4.31722064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90028169299995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:319.03, Y:157.69, Z:4.32 [[ 5.45861821e-01 -8.37851090e-01 -6.35796117e-03 3.19028212e+02] [ 8.37789097e-01 5.45898795e-01 -1.01948569e-02 1.57688602e+02] [ 1.20125753e-02 2.38352583e-04 9.99927818e-01 4.32090744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96028169299996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:319.06, Y:157.74, Z:4.32 [[ 5.41976212e-01 -8.40369795e-01 -6.35563430e-03 3.19057495e+02] [ 8.40307956e-01 5.42013444e-01 -1.01963073e-02 1.57736497e+02] [ 1.20135079e-02 1.85465908e-04 9.99927818e-01 4.31898763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02028169299996 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:319.09, Y:157.78, Z:4.32 [[ 5.36403088e-01 -8.43938010e-01 -6.35319548e-03 3.19085706e+02] [ 8.43876401e-01 5.36440699e-01 -1.01978266e-02 1.57784547e+02] [ 1.20144461e-02 1.08833951e-04 9.99927818e-01 4.31959094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08028169299996 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:319.12, Y:157.83, Z:4.32 [[ 5.34979476e-01 -8.44841186e-01 -6.35066978e-03 3.19115044e+02] [ 8.44779622e-01 5.35017161e-01 -1.01993993e-02 1.57832759e+02] [ 1.20145899e-02 9.15528623e-05 9.99927818e-01 4.32273056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14028169299996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:319.14, Y:157.88, Z:4.32 [[ 5.35518415e-01 -8.44499690e-01 -6.34831415e-03 3.19140669e+02] [ 8.44438084e-01 5.35556033e-01 -1.02008652e-02 1.57881922e+02] [ 1.20145055e-02 1.01992947e-04 9.99927818e-01 4.32145178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20028169299997 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:319.17, Y:157.93, Z:4.32 [[ 5.34832520e-01 -8.44934261e-01 -6.34586965e-03 3.19167651e+02] [ 8.44872668e-01 5.34870158e-01 -1.02023857e-02 1.57932437e+02] [ 1.20145615e-02 9.51158406e-05 9.99927818e-01 4.32017990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26028169299997 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:319.20, Y:157.98, Z:4.32 [[ 5.34444775e-01 -8.45179590e-01 -6.34367936e-03 3.19196948e+02] [ 8.45117999e-01 5.34482415e-01 -1.02037474e-02 1.57981512e+02] [ 1.20145841e-02 9.21818933e-05 9.99927818e-01 4.32088915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32028169299997 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:319.22, Y:158.03, Z:4.32 [[ 5.33001817e-01 -8.46090331e-01 -6.34148717e-03 3.19224626e+02] [ 8.46028788e-01 5.33039535e-01 -1.02051097e-02 1.58030721e+02] [ 1.20147080e-02 7.42612949e-05 9.99927818e-01 4.32291780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.380281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:319.25, Y:158.08, Z:4.33 [[ 5.29592018e-01 -8.48228808e-01 -6.33906395e-03 3.19252581e+02] [ 8.48167399e-01 5.29629954e-01 -1.02066147e-02 1.58080120e+02] [ 1.20149027e-02 2.87542611e-05 9.99927818e-01 4.32900640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.440281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:319.28, Y:158.13, Z:4.33 [[ 5.30649835e-01 -8.47567459e-01 -6.33688466e-03 3.19281185e+02] [ 8.47505986e-01 5.30687668e-01 -1.02079675e-02 1.58130116e+02] [ 1.20148476e-02 4.63085832e-05 9.99927818e-01 4.32776418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.500281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:319.31, Y:158.18, Z:4.33 [[ 5.32998043e-01 -8.46092760e-01 -6.33468436e-03 3.19308669e+02] [ 8.46031166e-01 5.33035679e-01 -1.02093327e-02 1.58178318e+02] [ 1.20146553e-02 8.22139810e-05 9.99927818e-01 4.32523110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.560281693 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:319.34, Y:158.22, Z:4.33 [[ 5.30479249e-01 -8.47674272e-01 -6.33212866e-03 3.19341024e+02] [ 8.47612772e-01 5.30517037e-01 -1.02109176e-02 1.58224751e+02] [ 1.20148343e-02 4.94867799e-05 9.99927818e-01 4.33013329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.620281693 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:319.38, Y:158.27, Z:4.33 [[ 5.26802222e-01 -8.49964324e-01 -6.32974125e-03 3.19375320e+02] [ 8.49902971e-01 5.26840248e-01 -1.02123974e-02 1.58270258e+02] [ 1.20149359e-02 2.47739446e-07 9.99927818e-01 4.32865492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.680281693 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:319.41, Y:158.32, Z:4.33 [[ 5.23757093e-01 -8.51844159e-01 -6.32750811e-03 3.19408939e+02] [ 8.51782925e-01 5.23795311e-01 -1.02137808e-02 1.58315593e+02] [ 1.20148686e-02 -4.01232198e-05 9.99927818e-01 4.32710013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.740281693 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:319.45, Y:158.36, Z:4.33 [[ 5.21217093e-01 -8.53400683e-01 -6.32578806e-03 3.19445967e+02] [ 8.53339551e-01 5.21255473e-01 -1.02148460e-02 1.58358236e+02] [ 1.20147082e-02 -7.38928102e-05 9.99927818e-01 4.33023514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.800281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:319.48, Y:158.40, Z:4.33 [[ 5.17817137e-01 -8.55467960e-01 -6.32323331e-03 3.19480813e+02] [ 8.55406961e-01 5.17855729e-01 -1.02164272e-02 1.58401437e+02] [ 1.20143487e-02 -1.18696714e-04 9.99927818e-01 4.33283180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.860281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:319.52, Y:158.45, Z:4.33 [[ 5.16698751e-01 -8.56143942e-01 -6.32071838e-03 3.19515108e+02] [ 8.56082974e-01 5.16737394e-01 -1.02179829e-02 1.58445257e+02] [ 1.20142157e-02 -1.31440384e-04 9.99927818e-01 4.33126120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92028169299994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:319.55, Y:158.49, Z:4.34 [[ 5.17323563e-01 -8.55766563e-01 -6.31832522e-03 3.19549482e+02] [ 8.55705549e-01 5.17362132e-01 -1.02194625e-02 1.58491515e+02] [ 1.20143365e-02 -1.19857200e-04 9.99927818e-01 4.33500258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98028169299994 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:319.59, Y:158.53, Z:4.34 [[ 5.18865931e-01 -8.54832295e-01 -6.31610127e-03 3.19588429e+02] [ 8.54771195e-01 5.18904364e-01 -1.02208368e-02 1.58532669e+02] [ 1.20145539e-02 -9.55774072e-05 9.99927818e-01 4.33577966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04028169299994 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:319.63, Y:158.58, Z:4.33 [[ 5.21214394e-01 -8.53402422e-01 -6.31353703e-03 3.19625623e+02] [ 8.53341198e-01 5.21252628e-01 -1.02224205e-02 1.58575117e+02] [ 1.20147862e-02 -5.95285154e-05 9.99927818e-01 4.33298204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10028169299994 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:319.66, Y:158.62, Z:4.34 [[ 5.24726334e-01 -8.51247582e-01 -6.31100246e-03 3.19660964e+02] [ 8.51186182e-01 5.24764284e-01 -1.02239851e-02 1.58618957e+02] [ 1.20149313e-02 -7.04389151e-06 9.99927818e-01 4.33529109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16028169299994 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:319.69, Y:158.66, Z:4.34 [[ 5.27679253e-01 -8.49420277e-01 -6.30861412e-03 3.19693864e+02] [ 8.49358728e-01 5.27716961e-01 -1.02254586e-02 1.58663105e+02] [ 1.20148745e-02 3.74858686e-05 9.99927818e-01 4.33686178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22028169299995 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:319.73, Y:158.71, Z:4.34 [[ 5.27047585e-01 -8.49812377e-01 -6.30612907e-03 3.19731980e+02] [ 8.49750838e-01 5.27085309e-01 -1.02269909e-02 1.58706103e+02] [ 1.20148914e-02 3.14723820e-05 9.99927818e-01 4.33734103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28028169299995 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:319.77, Y:158.75, Z:4.34 [[ 5.26143220e-01 -8.50372610e-01 -6.30371852e-03 3.19765866e+02] [ 8.50311092e-01 5.26180981e-01 -1.02284765e-02 1.58749953e+02] [ 1.20149130e-02 2.15217689e-05 9.99927818e-01 4.33738314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34028169299995 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:319.80, Y:158.80, Z:4.34 [[ 5.26631682e-01 -8.50070212e-01 -6.30122217e-03 3.19796273e+02] [ 8.50008655e-01 5.26669378e-01 -1.02300141e-02 1.58796959e+02] [ 1.20148910e-02 3.13561610e-05 9.99927818e-01 4.34141153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40028169299995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:319.83, Y:158.84, Z:4.35 [[ 5.26382214e-01 -8.50224730e-01 -6.29875955e-03 3.19827220e+02] [ 8.50163165e-01 5.26419897e-01 -1.02315302e-02 1.58842358e+02] [ 1.20148923e-02 3.07221447e-05 9.99927818e-01 4.34974715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46028169299996 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:319.86, Y:158.89, Z:4.35 [[ 5.23374122e-01 -8.52079742e-01 -6.29619830e-03 3.19856789e+02] [ 8.52018292e-01 5.23411992e-01 -1.02331060e-02 1.58889447e+02] [ 1.20149281e-02 -8.73322777e-06 9.99927818e-01 4.34923716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52028169299996 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:319.89, Y:158.93, Z:4.35 [[ 5.13238845e-01 -8.58222743e-01 -6.29368151e-03 3.19894595e+02] [ 8.58161728e-01 5.13277411e-01 -1.02346537e-02 1.58932373e+02] [ 1.20140171e-02 -1.48174750e-04 9.99927818e-01 4.34544201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58028169299996 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:319.93, Y:158.98, Z:4.34 [[ 5.11139441e-01 -8.59474777e-01 -6.29123390e-03 3.19926261e+02] [ 8.59413837e-01 5.11178127e-01 -1.02361580e-02 1.58979529e+02] [ 1.20136608e-02 -1.74669374e-04 9.99927818e-01 4.34440552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64028169299996 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:319.96, Y:159.02, Z:4.35 [[ 5.12146819e-01 -8.58874896e-01 -6.28880461e-03 3.19961003e+02] [ 8.58813893e-01 5.12185404e-01 -1.02376503e-02 1.59024133e+02] [ 1.20138948e-02 -1.57732721e-04 9.99927818e-01 4.34524464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70028169299997 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:320.00, Y:159.07, Z:4.35 [[ 5.13478073e-01 -8.58079688e-01 -6.28638901e-03 3.19995484e+02] [ 8.58018606e-01 5.13516535e-01 -1.02391334e-02 1.59068055e+02] [ 1.20141571e-02 -1.36268258e-04 9.99927818e-01 4.34611693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76028169299997 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:320.03, Y:159.11, Z:4.35 [[ 5.12020857e-01 -8.58950031e-01 -6.28386315e-03 3.20032575e+02] [ 8.58888996e-01 5.12059392e-01 -1.02406833e-02 1.59111548e+02] [ 1.20139464e-02 -1.53697474e-04 9.99927818e-01 4.34527837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82028169299997 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:320.07, Y:159.16, Z:4.35 [[ 5.13877135e-01 -8.57840797e-01 -6.28144065e-03 3.20068032e+02] [ 8.57779661e-01 5.13915510e-01 -1.02421690e-02 1.59156436e+02] [ 1.20142802e-02 -1.24875570e-04 9.99927818e-01 4.34662384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.880281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:320.10, Y:159.20, Z:4.35 [[ 5.15349083e-01 -8.56957348e-01 -6.27902262e-03 3.20103020e+02] [ 8.56896128e-01 5.15387324e-01 -1.02436512e-02 1.59199417e+02] [ 1.20145008e-02 -1.01413932e-04 9.99927818e-01 4.34689755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.940281693 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:320.14, Y:159.24, Z:4.35 [[ 5.18447721e-01 -8.55086291e-01 -6.27651095e-03 3.20140345e+02] [ 8.55024915e-01 5.18485710e-01 -1.02451899e-02 1.59243082e+02] [ 1.20148027e-02 -5.49778819e-05 9.99927818e-01 4.34736945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.000281693 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:320.18, Y:159.28, Z:4.35 [[ 5.25118501e-01 -8.51005991e-01 -6.27406890e-03 3.20177935e+02] [ 8.50944301e-01 5.25155979e-01 -1.02466852e-02 1.59284926e+02] [ 1.20148553e-02 4.18407753e-05 9.99927818e-01 4.34956134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.060281693 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:320.21, Y:159.33, Z:4.35 [[ 5.32193357e-01 -8.46599610e-01 -6.27152832e-03 3.20210423e+02] [ 8.46537591e-01 5.32230289e-01 -1.02482399e-02 1.59330507e+02] [ 1.20140532e-02 1.44960712e-04 9.99927818e-01 4.34832565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.120281693 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:320.24, Y:159.38, Z:4.35 [[ 5.35170309e-01 -8.44720924e-01 -6.26899894e-03 3.20240590e+02] [ 8.44658758e-01 5.35206992e-01 -1.02497869e-02 1.59378210e+02] [ 1.20134216e-02 1.90216774e-04 9.99927818e-01 4.34949494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.180281693 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:320.27, Y:159.43, Z:4.35 [[ 5.43678630e-01 -8.39270086e-01 -6.26650538e-03 3.20268995e+02] [ 8.39207535e-01 5.43714652e-01 -1.02513112e-02 1.59425567e+02] [ 1.20108096e-02 3.14520302e-04 9.99927818e-01 4.34931707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.240281693 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:320.29, Y:159.48, Z:4.35 [[ 5.47363636e-01 -8.36871439e-01 -6.26453179e-03 3.20292450e+02] [ 8.36808717e-01 5.47399359e-01 -1.02525171e-02 1.59477734e+02] [ 1.20092394e-02 3.69640240e-04 9.99927818e-01 4.35259284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.300281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:320.31, Y:159.53, Z:4.35 [[ 5.49130472e-01 -8.35713175e-01 -6.26215210e-03 3.20311495e+02] [ 8.35650360e-01 5.49166033e-01 -1.02539704e-02 1.59531413e+02] [ 1.20083394e-02 3.97797955e-04 9.99927818e-01 4.35389005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.360281693 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:320.33, Y:159.59, Z:4.35 [[ 5.46477089e-01 -8.37450659e-01 -6.25968242e-03 3.20329584e+02] [ 8.37387941e-01 5.46512819e-01 -1.02554778e-02 1.59585844e+02] [ 1.20094534e-02 3.62601109e-04 9.99927818e-01 4.35361723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42028169299994 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:320.35, Y:159.64, Z:4.35 [[ 5.42738174e-01 -8.39878634e-01 -6.25736854e-03 3.20351658e+02] [ 8.39816059e-01 5.42774155e-01 -1.02568895e-02 1.59637908e+02] [ 1.20108802e-02 3.11766871e-04 9.99927818e-01 4.35303923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48028169299994 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:320.37, Y:159.69, Z:4.35 [[ 5.36037914e-01 -8.44170734e-01 -6.25506625e-03 3.20371352e+02] [ 8.44108431e-01 5.36074364e-01 -1.02582933e-02 1.59691837e+02] [ 1.20129316e-02 2.18879986e-04 9.99927818e-01 4.35273467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54028169299994 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:320.39, Y:159.74, Z:4.36 [[ 5.30162013e-01 -8.47873307e-01 -6.25266651e-03 3.20391855e+02] [ 8.47811241e-01 5.30198865e-01 -1.02597558e-02 1.59744174e+02] [ 1.20141298e-02 1.38251827e-04 9.99927818e-01 4.35648033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60028169299994 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:320.42, Y:159.79, Z:4.36 [[ 5.27368940e-01 -8.49613404e-01 -6.25015888e-03 3.20416479e+02] [ 8.49551442e-01 5.27405966e-01 -1.02612832e-02 1.59794930e+02] [ 1.20144948e-02 1.01650548e-04 9.99927818e-01 4.35954470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:320.44, Y:159.84, Z:4.36 [[ 5.20678862e-01 -8.53729751e-01 -6.24782153e-03 3.20444112e+02] [ 8.53668064e-01 5.20716346e-01 -1.02627061e-02 1.59842764e+02] [ 1.20149203e-02 1.00084426e-05 9.99927818e-01 4.35686103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72028169299995 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:320.48, Y:159.89, Z:4.35 [[ 5.09816337e-01 -8.60260598e-01 -6.24538723e-03 3.20478122e+02] [ 8.60199374e-01 5.09854571e-01 -1.02641873e-02 1.59888563e+02] [ 1.20141152e-02 -1.39427802e-04 9.99927818e-01 4.35386328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78028169299995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:320.51, Y:159.93, Z:4.36 [[ 5.02615865e-01 -8.64487315e-01 -6.24301115e-03 3.20513880e+02] [ 8.64426394e-01 5.02654580e-01 -1.02656323e-02 1.59931369e+02] [ 1.20125871e-02 -2.36953945e-04 9.99927818e-01 4.35796400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84028169299995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:320.55, Y:159.97, Z:4.36 [[ 5.00138981e-01 -8.65922657e-01 -6.24114461e-03 3.20552263e+02] [ 8.65861833e-01 5.00177848e-01 -1.02667670e-02 1.59974393e+02] [ 1.20119084e-02 -2.69158528e-04 9.99927818e-01 4.35847279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90028169299995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:320.59, Y:160.02, Z:4.36 [[ 4.99420047e-01 -8.66337517e-01 -6.23879785e-03 3.20590154e+02] [ 8.66276708e-01 4.99458937e-01 -1.02681928e-02 1.60016759e+02] [ 1.20117440e-02 -2.76383900e-04 9.99927818e-01 4.35916831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:320.62, Y:160.06, Z:4.36 [[ 5.00942020e-01 -8.65458376e-01 -6.23634986e-03 3.20624532e+02] [ 8.65397480e-01 5.00980774e-01 -1.02696794e-02 1.60060902e+02] [ 1.20122714e-02 -2.52407499e-04 9.99927818e-01 4.35627025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02028169299996 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:320.66, Y:160.10, Z:4.35 [[ 5.02780568e-01 -8.64391601e-01 -6.23381143e-03 3.20659153e+02] [ 8.64330603e-01 5.02819163e-01 -1.02712200e-02 1.60104687e+02] [ 1.20128362e-02 -2.23904143e-04 9.99927818e-01 4.35262668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08028169299996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:320.69, Y:160.15, Z:4.36 [[ 5.03246304e-01 -8.64120552e-01 -6.23129745e-03 3.20691640e+02] [ 8.64059515e-01 5.03284835e-01 -1.02727450e-02 1.60150529e+02] [ 1.20130076e-02 -2.14490917e-04 9.99927818e-01 4.35695629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14028169299996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:320.72, Y:160.20, Z:4.36 [[ 5.03718838e-01 -8.63845202e-01 -6.22889603e-03 3.20723073e+02] [ 8.63784126e-01 5.03757308e-01 -1.02742009e-02 1.60197315e+02] [ 1.20131710e-02 -2.05112986e-04 9.99927818e-01 4.36004217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20028169299997 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:320.75, Y:160.24, Z:4.36 [[ 5.02215565e-01 -8.64720046e-01 -6.22650707e-03 3.20752361e+02] [ 8.64659018e-01 5.02254112e-01 -1.02756485e-02 1.60242731e+02] [ 1.20128480e-02 -2.23214898e-04 9.99927818e-01 4.36042400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26028169299997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:320.78, Y:160.29, Z:4.36 [[ 5.02005225e-01 -8.64842193e-01 -6.22378221e-03 3.20780974e+02] [ 8.64781155e-01 5.02043755e-01 -1.02772986e-02 1.60290620e+02] [ 1.20128524e-02 -2.22951969e-04 9.99927818e-01 4.36164396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.32028169299997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:320.81, Y:160.34, Z:4.36 [[ 5.03415454e-01 -8.64022093e-01 -6.22120142e-03 3.20806462e+02] [ 8.63960973e-01 5.03453854e-01 -1.02788606e-02 1.60340388e+02] [ 1.20132505e-02 -2.00337952e-04 9.99927818e-01 4.36164976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.380281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:320.83, Y:160.39, Z:4.36 [[ 5.05639034e-01 -8.62722723e-01 -6.21863465e-03 3.20831344e+02] [ 8.62661484e-01 5.05677245e-01 -1.02804132e-02 1.60388780e+02] [ 1.20137681e-02 -1.66398373e-04 9.99927818e-01 4.36318034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.440281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:320.86, Y:160.44, Z:4.36 [[ 5.06312917e-01 -8.62327424e-01 -6.21644434e-03 3.20856833e+02] [ 8.62266140e-01 5.06351054e-01 -1.02817375e-02 1.60438492e+02] [ 1.20139274e-02 -1.54452947e-04 9.99927818e-01 4.36079012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.500281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:320.88, Y:160.49, Z:4.36 [[ 5.04267224e-01 -8.63525306e-01 -6.21393632e-03 3.20883314e+02] [ 8.63464094e-01 5.04305477e-01 -1.02832531e-02 1.60486056e+02] [ 1.20135714e-02 -1.80003420e-04 9.99927818e-01 4.36158862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.560281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:320.91, Y:160.53, Z:4.36 [[ 5.02184811e-01 -8.64738015e-01 -6.21133859e-03 3.20913293e+02] [ 8.64676876e-01 5.02223181e-01 -1.02848219e-02 1.60533030e+02] [ 1.20131547e-02 -2.05919487e-04 9.99927818e-01 4.36356321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.620281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:320.95, Y:160.58, Z:4.37 [[ 4.98613585e-01 -8.66802136e-01 -6.20887660e-03 3.20946005e+02] [ 8.66741137e-01 4.98652176e-01 -1.02863080e-02 1.60577854e+02] [ 1.20122636e-02 -2.52595865e-04 9.99927818e-01 4.36561470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.680281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:320.98, Y:160.62, Z:4.36 [[ 4.97455140e-01 -8.67467500e-01 -6.20642965e-03 3.20979038e+02] [ 8.67406534e-01 4.97493785e-01 -1.02877842e-02 1.60621854e+02] [ 1.20119786e-02 -2.65786500e-04 9.99927818e-01 4.36350146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.740281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:321.01, Y:160.67, Z:4.36 [[ 4.98419111e-01 -8.66914011e-01 -6.20390811e-03 3.21012365e+02] [ 8.66852983e-01 4.98457657e-01 -1.02893045e-02 1.60667122e+02] [ 1.20123278e-02 -2.49490234e-04 9.99927818e-01 4.36353700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.800281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:321.05, Y:160.71, Z:4.36 [[ 4.96118720e-01 -8.68232548e-01 -6.20148206e-03 3.21048945e+02] [ 8.68171604e-01 4.96157400e-01 -1.02907665e-02 1.60710608e+02] [ 1.20116897e-02 -2.78508703e-04 9.99927818e-01 4.36204456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.860281693 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:321.09, Y:160.75, Z:4.37 [[ 4.92172982e-01 -8.70475346e-01 -6.19904295e-03 3.21088066e+02] [ 8.70414560e-01 4.92211909e-01 -1.02922356e-02 1.60752049e+02] [ 1.20103801e-02 -3.30176943e-04 9.99927818e-01 4.36642536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92028169299994 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:321.12, Y:160.80, Z:4.37 [[ 4.92813409e-01 -8.70112951e-01 -6.19650171e-03 3.21124167e+02] [ 8.70052117e-01 4.92852262e-01 -1.02937654e-02 1.60795442e+02] [ 1.20106984e-02 -3.18373828e-04 9.99927818e-01 4.36554535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98028169299994 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:321.16, Y:160.84, Z:4.37 [[ 4.97054359e-01 -8.67697297e-01 -6.19390676e-03 3.21155445e+02] [ 8.67636255e-01 4.97092883e-01 -1.02953266e-02 1.60841839e+02] [ 1.20121740e-02 -2.56721124e-04 9.99927818e-01 4.36830296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04028169299994 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:321.19, Y:160.89, Z:4.37 [[ 5.02097870e-01 -8.64788642e-01 -6.19147317e-03 3.21185780e+02] [ 8.64727359e-01 5.02136009e-01 -1.02967899e-02 1.60889490e+02] [ 1.20135086e-02 -1.83939983e-04 9.99927818e-01 4.37175550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10028169299994 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:321.22, Y:160.93, Z:4.37 [[ 5.05604707e-01 -8.62743053e-01 -6.18905796e-03 3.21218777e+02] [ 8.62681598e-01 5.05642569e-01 -1.02982414e-02 1.60934884e+02] [ 1.20141874e-02 -1.32347092e-04 9.99927818e-01 4.37041430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16028169299994 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:321.25, Y:160.98, Z:4.37 [[ 5.05428154e-01 -8.62846516e-01 -6.18640905e-03 3.21248213e+02] [ 8.62785049e-01 5.05465996e-01 -1.02998324e-02 1.60981169e+02] [ 1.20141939e-02 -1.31715966e-04 9.99927818e-01 4.36910028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22028169299995 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:321.28, Y:161.03, Z:4.37 [[ 5.03440702e-01 -8.64007652e-01 -6.18365704e-03 3.21278214e+02] [ 8.63946252e-01 5.03478653e-01 -1.03014843e-02 1.61027730e+02] [ 1.20139006e-02 -1.56160810e-04 9.99927818e-01 4.36643553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28028169299995 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:321.31, Y:161.07, Z:4.37 [[ 5.01542327e-01 -8.65111027e-01 -6.18102761e-03 3.21309923e+02] [ 8.65049691e-01 5.01580381e-01 -1.03030618e-02 1.61072514e+02] [ 1.20135746e-02 -1.79474442e-04 9.99927818e-01 4.36733876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34028169299995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:321.35, Y:161.12, Z:4.37 [[ 5.00930233e-01 -8.65465615e-01 -6.17831143e-03 3.21345068e+02] [ 8.65404286e-01 5.00968298e-01 -1.03046903e-02 1.61116664e+02] [ 1.20134933e-02 -1.84806272e-04 9.99927818e-01 4.36654903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40028169299995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:321.38, Y:161.16, Z:4.36 [[ 5.03690137e-01 -8.63862319e-01 -6.17576907e-03 3.21377176e+02] [ 8.63800850e-01 5.03727976e-01 -1.03062138e-02 1.61162529e+02] [ 1.20140574e-02 -1.43496338e-04 9.99927818e-01 4.36399533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46028169299996 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:321.41, Y:161.21, Z:4.37 [[ 5.07775608e-01 -8.61467251e-01 -6.17310382e-03 3.21407069e+02] [ 8.61405584e-01 5.07813124e-01 -1.03078099e-02 1.61208101e+02] [ 1.20146238e-02 -8.34916565e-05 9.99927818e-01 4.36723643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52028169299996 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:321.43, Y:161.25, Z:4.38 [[ 5.15965045e-01 -8.56587411e-01 -6.17082656e-03 3.21434947e+02] [ 8.56525373e-01 5.16001944e-01 -1.03091730e-02 1.61254532e+02] [ 1.20148663e-02 3.37034034e-05 9.99927818e-01 4.37755140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58028169299996 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:321.46, Y:161.30, Z:4.38 [[ 5.16661992e-01 -8.56167235e-01 -6.16867857e-03 3.21462894e+02] [ 8.56105151e-01 5.16698814e-01 -1.03104582e-02 1.61303436e+02] [ 1.20148254e-02 4.59843416e-05 9.99927818e-01 4.37871433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64028169299996 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:321.49, Y:161.35, Z:4.38 [[ 5.14676803e-01 -8.57362097e-01 -6.16622452e-03 3.21486102e+02] [ 8.57300082e-01 5.14713739e-01 -1.03119256e-02 1.61353912e+02] [ 1.20148947e-02 2.10041195e-05 9.99927818e-01 4.38081874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70028169299997 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:321.51, Y:161.40, Z:4.38 [[ 5.13369029e-01 -8.58145821e-01 -6.16368706e-03 3.21509461e+02] [ 8.58083843e-01 5.13406029e-01 -1.03134421e-02 1.61403330e+02] [ 1.20149113e-02 5.64146585e-06 9.99927818e-01 4.37873101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76028169299997 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:321.53, Y:161.45, Z:4.38 [[ 5.13074865e-01 -8.58321749e-01 -6.16093683e-03 3.21532621e+02] [ 8.58259765e-01 5.13111854e-01 -1.03150847e-02 1.61454280e+02] [ 1.20149113e-02 4.72651110e-06 9.99927818e-01 4.37826032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.82028169299997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:321.56, Y:161.50, Z:4.37 [[ 5.12719385e-01 -8.58534162e-01 -6.15834105e-03 3.21559133e+02] [ 8.58472175e-01 5.12756368e-01 -1.03166342e-02 1.61503079e+02] [ 1.20149115e-02 2.77392477e-06 9.99927818e-01 4.37422928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.880281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:321.59, Y:161.55, Z:4.37 [[ 5.11342366e-01 -8.59355044e-01 -6.15577279e-03 3.21586235e+02] [ 8.59293097e-01 5.11379417e-01 -1.03181665e-02 1.61550660e+02] [ 1.20149039e-02 -1.34974210e-05 9.99927818e-01 4.37400981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.940281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:321.61, Y:161.60, Z:4.38 [[ 5.11811483e-01 -8.59075751e-01 -6.15310861e-03 3.21614097e+02] [ 8.59013765e-01 5.11848468e-01 -1.03197550e-02 1.61598420e+02] [ 1.20149105e-02 -3.83590695e-06 9.99927818e-01 4.37573013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.000281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:321.64, Y:161.65, Z:4.37 [[ 5.17362660e-01 -8.55744149e-01 -6.15057368e-03 3.21637885e+02] [ 8.55681907e-01 5.17399213e-01 -1.03212656e-02 1.61649214e+02] [ 1.20146646e-02 7.69027937e-05 9.99927818e-01 4.36999349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.060281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:321.66, Y:161.70, Z:4.37 [[ 5.22839638e-01 -8.52408889e-01 -6.14806406e-03 3.21661633e+02] [ 8.52346397e-01 5.22875760e-01 -1.03227602e-02 1.61699480e+02] [ 1.20138863e-02 1.56867970e-04 9.99927818e-01 4.37058835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.120281693 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:321.69, Y:161.75, Z:4.38 [[ 5.22547190e-01 -8.52588216e-01 -6.14550044e-03 3.21686328e+02] [ 8.52525718e-01 5.22583303e-01 -1.03242862e-02 1.61747786e+02] [ 1.20139007e-02 1.55729580e-04 9.99927818e-01 4.37678212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.180281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:321.71, Y:161.80, Z:4.37 [[ 5.20710612e-01 -8.53711145e-01 -6.14331751e-03 3.21711612e+02] [ 8.53648709e-01 5.20746833e-01 -1.03255850e-02 1.61797937e+02] [ 1.20141801e-02 1.32406613e-04 9.99927818e-01 4.37465113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.240281693 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:321.74, Y:161.85, Z:4.37 [[ 5.19925651e-01 -8.54189444e-01 -6.14100158e-03 3.21735880e+02] [ 8.54127025e-01 5.19961901e-01 -1.03269622e-02 1.61848029e+02] [ 1.20142689e-02 1.24057108e-04 9.99927818e-01 4.37445797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.300281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:321.77, Y:161.90, Z:4.38 [[ 5.12368298e-01 -8.58743877e-01 -6.13842804e-03 3.21765331e+02] [ 8.58681763e-01 5.12405067e-01 -1.03284917e-02 1.61895672e+02] [ 1.20148906e-02 2.10354893e-05 9.99927818e-01 4.37962555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.360281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:321.80, Y:161.94, Z:4.38 [[ 5.07236814e-01 -8.61784871e-01 -6.13601450e-03 3.21796081e+02] [ 8.61722959e-01 5.07273924e-01 -1.03299253e-02 1.61942473e+02] [ 1.20148135e-02 -4.78261560e-05 9.99927818e-01 4.38262614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:321.83, Y:161.99, Z:4.39 [[ 5.01689678e-01 -8.65025923e-01 -6.13357274e-03 3.21829688e+02] [ 8.64964233e-01 5.01727155e-01 -1.03313750e-02 1.61985435e+02] [ 1.20142872e-02 -1.22176862e-04 9.99927818e-01 4.38618634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.86, Y:162.03, Z:4.38 [[ 5.01938428e-01 -8.64881627e-01 -6.13078203e-03 3.21863833e+02] [ 8.64819906e-01 5.01975854e-01 -1.03330307e-02 1.62028090e+02] [ 1.20143530e-02 -1.15477136e-04 9.99927818e-01 4.37988465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:321.90, Y:162.07, Z:4.38 [[ 5.05253553e-01 -8.62949184e-01 -6.12808524e-03 3.21895905e+02] [ 8.62887301e-01 5.05290710e-01 -1.03346298e-02 1.62073124e+02] [ 1.20147249e-02 -6.62384847e-05 9.99927818e-01 4.38022406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60028169299994 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:321.93, Y:162.12, Z:4.38 [[ 5.08078660e-01 -8.61288891e-01 -6.12540596e-03 3.21927016e+02] [ 8.61226868e-01 5.08115582e-01 -1.03362176e-02 1.62118014e+02] [ 1.20148836e-02 -2.37525815e-05 9.99927818e-01 4.38184322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66028169299994 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:321.96, Y:162.17, Z:4.39 [[ 5.10118130e-01 -8.60082558e-01 -6.12264123e-03 3.21955206e+02] [ 8.60020427e-01 5.10154872e-01 -1.03378551e-02 1.62165838e+02] [ 1.20149041e-02 7.93075911e-06 9.99927818e-01 4.38623208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72028169299995 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:321.98, Y:162.21, Z:4.39 [[ 5.16130291e-01 -8.56488218e-01 -6.12008803e-03 3.21983316e+02] [ 8.56425813e-01 5.16166566e-01 -1.03393663e-02 1.62214820e+02] [ 1.20145303e-02 9.50587914e-05 9.99927818e-01 4.38807377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78028169299995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:322.01, Y:162.26, Z:4.39 [[ 5.21250155e-01 -8.53382007e-01 -6.11765721e-03 3.22010748e+02] [ 8.53319370e-01 5.21286026e-01 -1.03408044e-02 1.62264123e+02] [ 1.20137057e-02 1.69830519e-04 9.99927818e-01 4.38778592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.04, Y:162.31, Z:4.39 [[ 5.23640873e-01 -8.51917155e-01 -6.11521985e-03 3.22035804e+02] [ 8.51854401e-01 5.23676539e-01 -1.03422456e-02 1.62313046e+02] [ 1.20131336e-02 2.06345584e-04 9.99927818e-01 4.38733511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90028169299995 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:322.06, Y:162.36, Z:4.39 [[ 5.23941786e-01 -8.51732141e-01 -6.11269656e-03 3.22057611e+02] [ 8.51669356e-01 5.23977399e-01 -1.03437368e-02 1.62364915e+02] [ 1.20130079e-02 2.13519574e-04 9.99927818e-01 4.38833891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96028169299996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:322.08, Y:162.41, Z:4.39 [[ 5.24231124e-01 -8.51554106e-01 -6.11011932e-03 3.22084961e+02] [ 8.51491291e-01 5.24266685e-01 -1.03452589e-02 1.62414606e+02] [ 1.20128797e-02 2.20593329e-04 9.99927818e-01 4.38874774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02028169299996 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:322.11, Y:162.47, Z:4.39 [[ 5.27215426e-01 -8.49709709e-01 -6.10773380e-03 3.22107990e+02] [ 8.49646754e-01 5.27250737e-01 -1.03466671e-02 1.62465339e+02] [ 1.20119707e-02 2.65506324e-04 9.99927818e-01 4.38769314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.13, Y:162.52, Z:4.39 [[ 5.31296872e-01 -8.47163715e-01 -6.10524616e-03 3.22126713e+02] [ 8.47100574e-01 5.31331849e-01 -1.03481348e-02 1.62519059e+02] [ 1.20104760e-02 3.26174120e-04 9.99927818e-01 4.38788518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14028169299996 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:322.14, Y:162.58, Z:4.39 [[ 5.33013044e-01 -8.46085014e-01 -6.10270474e-03 3.22143026e+02] [ 8.46021786e-01 5.33047862e-01 -1.03496334e-02 1.62575389e+02] [ 1.20097034e-02 3.53468425e-04 9.99927818e-01 4.38914938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20028169299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:322.16, Y:162.63, Z:4.39 [[ 5.27899804e-01 -8.49284748e-01 -6.10026795e-03 3.22161179e+02] [ 8.49221714e-01 5.27934973e-01 -1.03510694e-02 1.62628292e+02] [ 1.20115502e-02 2.83847533e-04 9.99927818e-01 4.39296936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26028169299997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:322.18, Y:162.68, Z:4.39 [[ 5.21937549e-01 -8.52961906e-01 -6.09772984e-03 3.22184193e+02] [ 8.52899102e-01 5.21973128e-01 -1.03525644e-02 1.62679469e+02] [ 1.20131942e-02 2.02643797e-04 9.99927818e-01 4.39048758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.32028169299997 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:322.21, Y:162.73, Z:4.39 [[ 5.13905665e-01 -8.57825050e-01 -6.09522010e-03 3.22205950e+02] [ 8.57762565e-01 5.13941801e-01 -1.03540418e-02 1.62731983e+02] [ 1.20145449e-02 9.27491304e-05 9.99927818e-01 4.38624328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.380281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:322.23, Y:162.78, Z:4.39 [[ 5.09187702e-01 -8.60633930e-01 -6.09283255e-03 3.22231886e+02] [ 8.60571628e-01 5.09224153e-01 -1.03554466e-02 1.62782094e+02] [ 1.20148662e-02 2.95472412e-05 9.99927818e-01 4.39388639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.440281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:322.26, Y:162.83, Z:4.40 [[ 5.02374210e-01 -8.64628857e-01 -6.09044228e-03 3.22259973e+02] [ 8.64566828e-01 5.02411123e-01 -1.03568522e-02 1.62828292e+02] [ 1.20147392e-02 -6.25788991e-05 9.99927818e-01 4.39562686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.500281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:322.29, Y:162.87, Z:4.39 [[ 4.95279011e-01 -8.68712634e-01 -6.08772514e-03 3.22292037e+02] [ 8.68650890e-01 4.95316398e-01 -1.03584491e-02 1.62873427e+02] [ 1.20138657e-02 -1.57785430e-04 9.99927818e-01 4.39487452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.560281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:322.32, Y:162.92, Z:4.40 [[ 4.94466746e-01 -8.69175246e-01 -6.08515536e-03 3.22321821e+02] [ 8.69113518e-01 4.94504160e-01 -1.03599585e-02 1.62918855e+02] [ 1.20137541e-02 -1.66035803e-04 9.99927818e-01 4.39684503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.620281693 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:322.35, Y:162.97, Z:4.40 [[ 5.02623844e-01 -8.64483820e-01 -6.08250390e-03 3.22351165e+02] [ 8.64421724e-01 5.02660644e-01 -1.03615150e-02 1.62965004e+02] [ 1.20147974e-02 -4.99040029e-05 9.99927818e-01 4.39930975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.680281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:322.38, Y:163.01, Z:4.39 [[ 5.09303967e-01 -8.60565224e-01 -6.07988029e-03 3.22377891e+02] [ 8.60502826e-01 5.09340253e-01 -1.03630543e-02 1.63014318e+02] [ 1.20148119e-02 4.61904644e-05 9.99927818e-01 4.39103739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.740281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:322.40, Y:163.06, Z:4.39 [[ 5.16446942e-01 -8.56297624e-01 -6.07749764e-03 3.22403473e+02] [ 8.56234910e-01 5.16482679e-01 -1.03644514e-02 1.63063683e+02] [ 1.20139774e-02 1.48923582e-04 9.99927818e-01 4.39288435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.800281693 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:322.43, Y:163.11, Z:4.40 [[ 5.18687370e-01 -8.54942400e-01 -6.07501911e-03 3.22430689e+02] [ 8.54879575e-01 5.18722912e-01 -1.03659039e-02 1.63113264e+02] [ 1.20135024e-02 1.83253697e-04 9.99927818e-01 4.40227086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.860281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:322.46, Y:163.16, Z:4.40 [[ 5.17652081e-01 -8.55569662e-01 -6.07263172e-03 3.22459460e+02] [ 8.55506864e-01 5.17687671e-01 -1.03673024e-02 1.63161063e+02] [ 1.20136759e-02 1.71477527e-04 9.99927818e-01 4.39781459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92028169299994 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:322.49, Y:163.21, Z:4.40 [[ 5.17754883e-01 -8.55507472e-01 -6.07015814e-03 3.22486397e+02] [ 8.55444653e-01 5.17790435e-01 -1.03687505e-02 1.63209445e+02] [ 1.20136133e-02 1.75786858e-04 9.99927818e-01 4.39525950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98028169299994 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:322.52, Y:163.26, Z:4.40 [[ 5.17332287e-01 -8.55763104e-01 -6.06759368e-03 3.22516367e+02] [ 8.55700285e-01 5.17367839e-01 -1.03702509e-02 1.63256768e+02] [ 1.20136559e-02 1.72823983e-04 9.99927819e-01 4.39840205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04028169299994 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:322.55, Y:163.30, Z:4.40 [[ 5.16754771e-01 -8.56111979e-01 -6.06515377e-03 3.22547161e+02] [ 8.56049167e-01 5.16790336e-01 -1.03716777e-02 1.63303586e+02] [ 1.20137304e-02 1.67544110e-04 9.99927819e-01 4.39879089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10028169299994 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:322.58, Y:163.35, Z:4.40 [[ 5.18657328e-01 -8.54960712e-01 -6.06271664e-03 3.22576379e+02] [ 8.54897805e-01 5.18692724e-01 -1.03731021e-02 1.63351077e+02] [ 1.20132818e-02 1.97082304e-04 9.99927819e-01 4.40046839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16028169299994 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:322.60, Y:163.40, Z:4.40 [[ 5.19953866e-01 -8.54172847e-01 -6.06018051e-03 3.22602213e+02] [ 8.54109868e-01 5.19989135e-01 -1.03745836e-02 1.63398625e+02] [ 1.20129156e-02 2.18244871e-04 9.99927819e-01 4.40273334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22028169299995 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:322.63, Y:163.45, Z:4.41 [[ 5.16542992e-01 -8.56239829e-01 -6.05746634e-03 3.22634538e+02] [ 8.56176973e-01 5.16578479e-01 -1.03761681e-02 1.63445188e+02] [ 1.20136451e-02 1.73473714e-04 9.99927819e-01 4.40605158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28028169299995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:322.67, Y:163.49, Z:4.40 [[ 5.14081521e-01 -8.57719958e-01 -6.05502504e-03 3.22666564e+02] [ 8.57657188e-01 5.14117159e-01 -1.03775925e-02 1.63492082e+02] [ 1.20140605e-02 1.41792794e-04 9.99927819e-01 4.39985868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34028169299995 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:322.70, Y:163.54, Z:4.40 [[ 5.14131766e-01 -8.57689859e-01 -6.05259524e-03 3.22697246e+02] [ 8.57627070e-01 5.14167371e-01 -1.03790095e-02 1.63539814e+02] [ 1.20140181e-02 1.45308950e-04 9.99927819e-01 4.39976822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40028169299995 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:322.73, Y:163.59, Z:4.40 [[ 5.15578319e-01 -8.56821097e-01 -6.05017897e-03 3.22726992e+02] [ 8.56758232e-01 5.15613789e-01 -1.03804178e-02 1.63588093e+02] [ 1.20137167e-02 1.68377717e-04 9.99927819e-01 4.39905814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46028169299996 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:322.76, Y:163.63, Z:4.40 [[ 5.19189811e-01 -8.54637563e-01 -6.04779165e-03 3.22756826e+02] [ 8.54574532e-01 5.19224987e-01 -1.03818085e-02 1.63634424e+02] [ 1.20128480e-02 2.21840468e-04 9.99927819e-01 4.40305533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52028169299996 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:322.78, Y:163.69, Z:4.40 [[ 5.21621792e-01 -8.53155415e-01 -6.04519016e-03 3.22780492e+02] [ 8.53092267e-01 5.21656756e-01 -1.03833231e-02 1.63685854e+02] [ 1.20121026e-02 2.59062618e-04 9.99927819e-01 4.40389200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58028169299996 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:322.80, Y:163.74, Z:4.40 [[ 5.22543667e-01 -8.52591110e-01 -6.04282751e-03 3.22803267e+02] [ 8.52527908e-01 5.22578534e-01 -1.03846979e-02 1.63735767e+02] [ 1.20117530e-02 2.74779022e-04 9.99927819e-01 4.40146738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64028169299996 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:322.83, Y:163.79, Z:4.40 [[ 5.19423850e-01 -8.54495395e-01 -6.04014105e-03 3.22828577e+02] [ 8.54432303e-01 5.19458916e-01 -1.03862602e-02 1.63785349e+02] [ 1.20126166e-02 2.33979647e-04 9.99927819e-01 4.40151369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70028169299997 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:322.86, Y:163.83, Z:4.41 [[ 5.15461039e-01 -8.56891746e-01 -6.03759555e-03 3.22855557e+02] [ 8.56828800e-01 5.15496365e-01 -1.03877397e-02 1.63834592e+02] [ 1.20135270e-02 1.81289359e-04 9.99927819e-01 4.40785444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76028169299997 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:322.88, Y:163.88, Z:4.41 [[ 5.14276274e-01 -8.57603341e-01 -6.03522322e-03 3.22880367e+02] [ 8.57540427e-01 5.14311659e-01 -1.03891178e-02 1.63884277e+02] [ 1.20137278e-02 1.67428928e-04 9.99927819e-01 4.40909445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.82028169299997 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:322.91, Y:163.93, Z:4.40 [[ 5.13970336e-01 -8.57786746e-01 -6.03262892e-03 3.22909720e+02] [ 8.57723827e-01 5.14005711e-01 -1.03906241e-02 1.63931852e+02] [ 1.20137453e-02 1.66142970e-04 9.99927819e-01 4.40427534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.880281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:322.94, Y:163.98, Z:4.40 [[ 5.14055503e-01 -8.57735728e-01 -6.03003601e-03 3.22938726e+02] [ 8.57672788e-01 5.14090841e-01 -1.03921286e-02 1.63977848e+02] [ 1.20136863e-02 1.70333097e-04 9.99927819e-01 4.40306959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.940281693 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:322.97, Y:164.03, Z:4.41 [[ 5.17293950e-01 -8.55786563e-01 -6.02735275e-03 3.22965529e+02] [ 8.55723472e-01 5.17329017e-01 -1.03936846e-02 1.64028722e+02] [ 1.20129001e-02 2.18842957e-04 9.99927819e-01 4.41286162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.000281693 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:322.99, Y:164.08, Z:4.42 [[ 5.25784182e-01 -8.50596668e-01 -6.02514076e-03 3.22990169e+02] [ 8.50533217e-01 5.25818592e-01 -1.03949667e-02 1.64078079e+02] [ 1.20100551e-02 3.40926728e-04 9.99927819e-01 4.42224474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.060281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:323.01, Y:164.13, Z:4.42 [[ 5.32835470e-01 -8.46197430e-01 -6.02258566e-03 3.23013849e+02] [ 8.46133678e-01 5.32869320e-01 -1.03964469e-02 1.64129314e+02] [ 1.20066978e-02 4.43683113e-04 9.99927819e-01 4.42023838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.120281693 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:323.04, Y:164.18, Z:4.41 [[ 5.37326582e-01 -8.43352774e-01 -6.02018534e-03 3.23035884e+02] [ 8.43288828e-01 5.37360064e-01 -1.03978366e-02 1.64181150e+02] [ 1.20040516e-02 5.10278984e-04 9.99927819e-01 4.41032232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.180281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:323.06, Y:164.23, Z:4.41 [[ 5.35148353e-01 -8.44736662e-01 -6.01769630e-03 3.23058440e+02] [ 8.44672786e-01 5.35181969e-01 -1.03992770e-02 1.64230862e+02] [ 1.20052131e-02 4.82171649e-04 9.99927819e-01 4.40535821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.240281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:323.08, Y:164.28, Z:4.42 [[ 5.29720819e-01 -8.48150733e-01 -6.01565211e-03 3.23084586e+02] [ 8.48087061e-01 5.29754819e-01 -1.04004593e-02 1.64281599e+02] [ 1.20079779e-02 4.07543126e-04 9.99927819e-01 4.41545660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.300281693 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:323.11, Y:164.33, Z:4.41 [[ 5.24184795e-01 -8.51583313e-01 -6.01344545e-03 3.23107781e+02] [ 8.51519849e-01 5.24219182e-01 -1.04017350e-02 1.64331910e+02] [ 1.20103074e-02 3.31863193e-04 9.99927819e-01 4.41131650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.360281693 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:323.14, Y:164.38, Z:4.41 [[ 5.21131994e-01 -8.53454928e-01 -6.01088639e-03 3.23137342e+02] [ 8.53391570e-01 5.21166577e-01 -1.04032136e-02 1.64380298e+02] [ 1.20113470e-02 2.91807703e-04 9.99927819e-01 4.40966224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42028169299994 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:323.17, Y:164.43, Z:4.41 [[ 5.13039764e-01 -8.58343812e-01 -6.00842731e-03 3.23168837e+02] [ 8.58280768e-01 5.13074914e-01 -1.04046337e-02 1.64426034e+02] [ 1.20135263e-02 1.81073210e-04 9.99927819e-01 4.41275748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48028169299994 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:323.20, Y:164.47, Z:4.41 [[ 5.11950038e-01 -8.58994230e-01 -6.00587294e-03 3.23198520e+02] [ 8.58931213e-01 5.11985238e-01 -1.04061080e-02 1.64473538e+02] [ 1.20137050e-02 1.68775642e-04 9.99927819e-01 4.41479872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54028169299994 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:323.23, Y:164.52, Z:4.41 [[ 5.13582310e-01 -8.58019329e-01 -6.00344991e-03 3.23227751e+02] [ 8.57956229e-01 5.13617360e-01 -1.04075057e-02 1.64520132e+02] [ 1.20133171e-02 1.94413547e-04 9.99927819e-01 4.41303834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60028169299994 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:323.26, Y:164.57, Z:4.42 [[ 5.14771388e-01 -8.57306484e-01 -6.00092686e-03 3.23258397e+02] [ 8.57243318e-01 5.14806320e-01 -1.04089602e-02 1.64567553e+02] [ 1.20129842e-02 2.13980452e-04 9.99927819e-01 4.41507635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66028169299994 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:323.29, Y:164.61, Z:4.41 [[ 5.11729618e-01 -8.59125611e-01 -5.99855340e-03 3.23285195e+02] [ 8.59062553e-01 5.11764745e-01 -1.04103278e-02 1.64614879e+02] [ 1.20136274e-02 1.74140499e-04 9.99927819e-01 4.41352715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72028169299995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:323.31, Y:164.66, Z:4.42 [[ 5.08156811e-01 -8.61243697e-01 -5.99585386e-03 3.23313493e+02] [ 8.61180767e-01 5.08192167e-01 -1.04118824e-02 1.64662964e+02] [ 1.20142141e-02 1.27354935e-04 9.99927819e-01 4.41935268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78028169299995 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:323.34, Y:164.71, Z:4.42 [[ 5.04802015e-01 -8.63214346e-01 -5.99329473e-03 3.23340549e+02] [ 8.63151537e-01 5.04837584e-01 -1.04133553e-02 1.64712355e+02] [ 1.20145981e-02 8.35611764e-05 9.99927819e-01 4.42088822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84028169299995 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:323.37, Y:164.76, Z:4.42 [[ 5.01465363e-01 -8.65156980e-01 -5.99070955e-03 3.23368048e+02] [ 8.65094292e-01 5.01501144e-01 -1.04148423e-02 1.64760198e+02] [ 1.20148212e-02 4.01540522e-05 9.99927819e-01 4.42052152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90028169299995 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:323.40, Y:164.81, Z:4.42 [[ 4.94979098e-01 -8.68884248e-01 -5.98801968e-03 3.23397049e+02] [ 8.68821810e-01 4.95015315e-01 -1.04163886e-02 1.64807302e+02] [ 1.20147974e-02 -4.66274380e-05 9.99927819e-01 4.42197539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:323.43, Y:164.86, Z:4.42 [[ 4.90401471e-01 -8.71476088e-01 -5.98540398e-03 3.23427283e+02] [ 8.71413823e-01 4.90437984e-01 -1.04178914e-02 1.64855124e+02] [ 1.20144127e-02 -1.06814485e-04 9.99927819e-01 4.42156288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02028169299996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:323.46, Y:164.90, Z:4.43 [[ 4.87944274e-01 -8.72854278e-01 -5.98290391e-03 3.23457403e+02] [ 8.72792098e-01 4.87980933e-01 -1.04193270e-02 1.64901716e+02] [ 1.20140972e-02 -1.37780310e-04 9.99927819e-01 4.42627475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08028169299996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:323.49, Y:164.95, Z:4.42 [[ 4.84534098e-01 -8.74751933e-01 -5.98030800e-03 3.23491111e+02] [ 8.74689878e-01 4.84570968e-01 -1.04208167e-02 1.64947944e+02] [ 1.20135132e-02 -1.81673839e-04 9.99927819e-01 4.42353129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14028169299996 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:323.52, Y:164.99, Z:4.42 [[ 4.82455836e-01 -8.75899898e-01 -5.97794531e-03 3.23523531e+02] [ 8.75837914e-01 4.82492825e-01 -1.04221719e-02 1.64992039e+02] [ 1.20130951e-02 -2.07473479e-04 9.99927819e-01 4.41793011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20028169299997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:323.56, Y:165.04, Z:4.42 [[ 4.83341529e-01 -8.75411483e-01 -5.97511230e-03 3.23557452e+02] [ 8.75349442e-01 4.83378422e-01 -1.04237959e-02 1.65035504e+02] [ 1.20133510e-02 -1.92057784e-04 9.99927819e-01 4.41826507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26028169299997 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:323.59, Y:165.08, Z:4.42 [[ 4.87550404e-01 -8.73074416e-01 -5.97231367e-03 3.23589426e+02] [ 8.73012178e-01 4.87586964e-01 -1.04253991e-02 1.65080648e+02] [ 1.20141715e-02 -1.30995022e-04 9.99927819e-01 4.41993776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32028169299997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:323.62, Y:165.13, Z:4.42 [[ 4.92881259e-01 -8.70076105e-01 -5.96967319e-03 3.23620005e+02] [ 8.70013627e-01 4.92917406e-01 -1.04269108e-02 1.65127583e+02] [ 1.20147618e-02 -5.44680785e-05 9.99927819e-01 4.42374113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.380281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:323.65, Y:165.17, Z:4.43 [[ 4.99816129e-01 -8.66110981e-01 -5.96700838e-03 3.23651889e+02] [ 8.66048198e-01 4.99851745e-01 -1.04284356e-02 1.65171757e+02] [ 1.20148021e-02 4.45834678e-05 9.99927819e-01 4.42752935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.440281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.68, Y:165.22, Z:4.43 [[ 5.00930284e-01 -8.65467087e-01 -5.96425273e-03 3.23682463e+02] [ 8.65404239e-01 5.00965785e-01 -1.04300114e-02 1.65218190e+02] [ 1.20147181e-02 6.32189677e-05 9.99927819e-01 4.42808615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.500281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.71, Y:165.26, Z:4.43 [[ 5.02890985e-01 -8.64329287e-01 -5.96165529e-03 3.23712791e+02] [ 8.64266341e-01 5.02926312e-01 -1.04314958e-02 1.65263337e+02] [ 1.20145207e-02 9.34472103e-05 9.99927819e-01 4.43130151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.560281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.74, Y:165.31, Z:4.43 [[ 5.07461988e-01 -8.61653539e-01 -5.95897057e-03 3.23741889e+02] [ 8.61590389e-01 5.07496949e-01 -1.04330293e-02 1.65309689e+02] [ 1.20138160e-02 1.60174003e-04 9.99927819e-01 4.43142682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.620281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.76, Y:165.36, Z:4.44 [[ 5.18772694e-01 -8.54891464e-01 -5.95632168e-03 3.23762933e+02] [ 8.54827841e-01 5.18806787e-01 -1.04345413e-02 1.65360302e+02] [ 1.20105804e-02 3.21525503e-04 9.99927819e-01 4.43580919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.680281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:323.78, Y:165.41, Z:4.43 [[ 5.29628342e-01 -8.48208920e-01 -5.95372282e-03 3.23783416e+02] [ 8.48144852e-01 5.29661590e-01 -1.04360240e-02 1.65413893e+02] [ 1.20053869e-02 4.77594709e-04 9.99927819e-01 4.43112985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.740281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:323.81, Y:165.46, Z:4.43 [[ 5.30858826e-01 -8.47439371e-01 -5.95132439e-03 3.23807645e+02] [ 8.47375240e-01 5.30891951e-01 -1.04373915e-02 1.65464197e+02] [ 1.20045667e-02 4.97776490e-04 9.99927819e-01 4.42977987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.800281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:323.82, Y:165.52, Z:4.43 [[ 5.30584509e-01 -8.47611167e-01 -5.94884867e-03 3.23823804e+02] [ 8.47547030e-01 5.30617625e-01 -1.04388024e-02 1.65519721e+02] [ 1.20046094e-02 4.96737812e-04 9.99927819e-01 4.43075820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86028169299993 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:323.84, Y:165.57, Z:4.43 [[ 5.26909505e-01 -8.49900590e-01 -5.94651599e-03 3.23840863e+02] [ 8.49836582e-01 5.26942869e-01 -1.04401310e-02 1.65574349e+02] [ 1.20065477e-02 4.47437456e-04 9.99927819e-01 4.43181043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:323.86, Y:165.63, Z:4.43 [[ 5.22168767e-01 -8.52821462e-01 -5.94410904e-03 3.23859056e+02] [ 8.52757626e-01 5.22202457e-01 -1.04415013e-02 1.65628984e+02] [ 1.20087647e-02 3.83341522e-04 9.99927819e-01 4.43037151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98028169299994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:323.88, Y:165.68, Z:4.43 [[ 5.15537231e-01 -8.56846579e-01 -5.94169575e-03 3.23879443e+02] [ 8.56782990e-01 5.15571386e-01 -1.04428744e-02 1.65680929e+02] [ 1.20113095e-02 2.92946666e-04 9.99927819e-01 4.42725034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04028169299994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:323.90, Y:165.73, Z:4.43 [[ 5.09950494e-01 -8.60183248e-01 -5.93918454e-03 3.23902895e+02] [ 8.60119866e-01 5.09985032e-01 -1.04443024e-02 1.65731997e+02] [ 1.20129091e-02 2.17666549e-04 9.99927819e-01 4.43237852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.93, Y:165.78, Z:4.43 [[ 5.06261474e-01 -8.62359597e-01 -5.93681844e-03 3.23929690e+02] [ 8.62296348e-01 5.06296255e-01 -1.04456471e-02 1.65782001e+02] [ 1.20136930e-02 1.68931863e-04 9.99927819e-01 4.43388320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.96, Y:165.83, Z:4.44 [[ 4.98328622e-01 -8.66967916e-01 -5.93440553e-03 3.23958805e+02] [ 8.66904972e-01 4.98363953e-01 -1.04470178e-02 1.65829449e+02] [ 1.20147230e-02 6.14823221e-05 9.99927819e-01 4.43623346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:323.99, Y:165.88, Z:4.44 [[ 4.90612975e-01 -8.71357402e-01 -5.93175958e-03 3.23990434e+02] [ 8.71294757e-01 4.90648831e-01 -1.04485199e-02 1.65876471e+02] [ 1.20148061e-02 -4.21315686e-05 9.99927819e-01 4.44382402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.02, Y:165.92, Z:4.44 [[ 4.86547577e-01 -8.73633962e-01 -5.92926132e-03 3.24020171e+02] [ 8.73571467e-01 4.86583694e-01 -1.04499374e-02 1.65923459e+02] [ 1.20145021e-02 -9.52417721e-05 9.99927819e-01 4.43833787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:324.05, Y:165.97, Z:4.44 [[ 4.83658293e-01 -8.75236842e-01 -5.92666954e-03 3.24052979e+02] [ 8.75174449e-01 4.83694586e-01 -1.04514072e-02 1.65968173e+02] [ 1.20141546e-02 -1.31959999e-04 9.99927819e-01 4.44262216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.08, Y:166.01, Z:4.44 [[ 4.83728350e-01 -8.75198143e-01 -5.92399372e-03 3.24084817e+02] [ 8.75135728e-01 4.83764606e-01 -1.04529236e-02 1.66013376e+02] [ 1.20141978e-02 -1.27923059e-04 9.99927819e-01 4.44264513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46028169299996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:324.11, Y:166.06, Z:4.44 [[ 4.85466412e-01 -8.74235266e-01 -5.92130505e-03 3.24113936e+02] [ 8.74172761e-01 4.85502512e-01 -1.04544465e-02 1.66061126e+02] [ 1.20144543e-02 -1.00960971e-04 9.99927819e-01 4.44061176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52028169299996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:324.14, Y:166.11, Z:4.44 [[ 4.88171196e-01 -8.72727823e-01 -5.91860739e-03 3.24142218e+02] [ 8.72665188e-01 4.88207069e-01 -1.04559735e-02 1.66108332e+02] [ 1.20147249e-02 -6.06575607e-05 9.99927819e-01 4.44361084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.17, Y:166.16, Z:4.44 [[ 4.91018293e-01 -8.71129174e-01 -5.91591124e-03 3.24168329e+02] [ 8.71066403e-01 4.91053930e-01 -1.04574987e-02 1.66156498e+02] [ 1.20148637e-02 -1.83283531e-05 9.99927819e-01 4.43967247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64028169299996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:324.19, Y:166.21, Z:4.43 [[ 4.91865795e-01 -8.70650945e-01 -5.91364697e-03 3.24194620e+02] [ 8.70588125e-01 4.91901343e-01 -1.04587790e-02 1.66206052e+02] [ 1.20148767e-02 -4.03518172e-06 9.99927819e-01 4.43344024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.22, Y:166.26, Z:4.44 [[ 4.89149549e-01 -8.72179899e-01 -5.91117621e-03 3.24218830e+02] [ 8.72117173e-01 4.89185263e-01 -1.04601752e-02 1.66256600e+02] [ 1.20148149e-02 -3.86482783e-05 9.99927819e-01 4.44310745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.25, Y:166.30, Z:4.45 [[ 4.84539060e-01 -8.74749670e-01 -5.90879565e-03 3.24245991e+02] [ 8.74687116e-01 4.84575077e-01 -1.04615198e-02 1.66303272e+02] [ 1.20144661e-02 -9.93324511e-05 9.99927819e-01 4.44930267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.82028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.28, Y:166.35, Z:4.45 [[ 4.81041763e-01 -8.76677786e-01 -5.90608181e-03 3.24276498e+02] [ 8.76615358e-01 4.81077997e-01 -1.04630517e-02 1.66349101e+02] [ 1.20140110e-02 -1.44197187e-04 9.99927819e-01 4.44631790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.880281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.31, Y:166.40, Z:4.44 [[ 4.81165915e-01 -8.76609666e-01 -5.90389028e-03 3.24308558e+02] [ 8.76547217e-01 4.81202114e-01 -1.04642881e-02 1.66395004e+02] [ 1.20140606e-02 -1.39979819e-04 9.99927819e-01 4.44165502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.940281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.34, Y:166.44, Z:4.45 [[ 4.84501863e-01 -8.74770323e-01 -5.90135920e-03 3.24341311e+02] [ 8.74707720e-01 4.84537793e-01 -1.04657154e-02 1.66438520e+02] [ 1.20145288e-02 -9.13058619e-05 9.99927819e-01 4.44532701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.000281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:324.37, Y:166.48, Z:4.45 [[ 4.87950584e-01 -8.72851323e-01 -5.89873957e-03 3.24374361e+02] [ 8.72788561e-01 4.87986235e-01 -1.04671916e-02 1.66483859e+02] [ 1.20148058e-02 -4.08801564e-05 9.99927819e-01 4.45074221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.060281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.41, Y:166.53, Z:4.44 [[ 4.91559178e-01 -8.70824213e-01 -5.89607107e-03 3.24407492e+02] [ 8.70761286e-01 4.91594537e-01 -1.04686946e-02 1.66529337e+02] [ 1.20148690e-02 1.19124714e-05 9.99927819e-01 4.44455155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.120281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:324.44, Y:166.57, Z:4.45 [[ 4.94019678e-01 -8.69430748e-01 -5.89336140e-03 3.24438603e+02] [ 8.69367703e-01 4.94054827e-01 -1.04702198e-02 1.66574260e+02] [ 1.20147746e-02 4.89965313e-05 9.99927819e-01 4.44610204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.180281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.47, Y:166.62, Z:4.45 [[ 4.95358330e-01 -8.68668767e-01 -5.89056195e-03 3.24469097e+02] [ 8.68605649e-01 4.95393347e-01 -1.04717945e-02 1.66620473e+02] [ 1.20146660e-02 7.07152453e-05 9.99927819e-01 4.44627515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.240281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:324.50, Y:166.67, Z:4.44 [[ 4.95946996e-01 -8.68332834e-01 -5.88789042e-03 3.24500186e+02] [ 8.68269674e-01 4.95981938e-01 -1.04732964e-02 1.66666659e+02] [ 1.20145944e-02 8.19231752e-05 9.99927819e-01 4.44377357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.300281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:324.53, Y:166.71, Z:4.45 [[ 4.96973765e-01 -8.67745609e-01 -5.88519599e-03 3.24530419e+02] [ 8.67682390e-01 4.97008600e-01 -1.04748102e-02 1.66713311e+02] [ 1.20144636e-02 9.92249524e-05 9.99927819e-01 4.44563048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36028169299993 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:324.56, Y:166.76, Z:4.45 [[ 4.97744294e-01 -8.67303877e-01 -5.88250409e-03 3.24558580e+02] [ 8.67240609e-01 4.97779040e-01 -1.04763217e-02 1.66761163e+02] [ 1.20143417e-02 1.12982927e-04 9.99927819e-01 4.44870354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42028169299994 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:324.59, Y:166.81, Z:4.45 [[ 4.98543884e-01 -8.66844521e-01 -5.87985387e-03 3.24585326e+02] [ 8.66781204e-01 4.98578540e-01 -1.04778090e-02 1.66809927e+02] [ 1.20142002e-02 1.27100766e-04 9.99927819e-01 4.44717539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.61, Y:166.86, Z:4.45 [[ 5.01381418e-01 -8.65206410e-01 -5.87721766e-03 3.24610939e+02] [ 8.65142962e-01 5.01415835e-01 -1.04792875e-02 1.66858484e+02] [ 1.20136767e-02 1.69486511e-04 9.99927819e-01 4.45375780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54028169299994 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:324.63, Y:166.91, Z:4.45 [[ 5.09779064e-01 -8.60285298e-01 -5.87472927e-03 3.24630818e+02] [ 8.60221502e-01 5.09812832e-01 -1.04806823e-02 1.66910547e+02] [ 1.20113892e-02 2.89263964e-04 9.99927819e-01 4.45407187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60028169299994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:324.65, Y:166.96, Z:4.46 [[ 5.18424552e-01 -8.55103211e-01 -5.87214794e-03 3.24652225e+02] [ 8.55039062e-01 5.18457642e-01 -1.04821283e-02 1.66962994e+02] [ 1.20077616e-02 4.13276819e-04 9.99927819e-01 4.45897494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66028169299994 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:324.68, Y:167.01, Z:4.46 [[ 5.19296996e-01 -8.54573682e-01 -5.86963850e-03 3.24677145e+02] [ 8.54509483e-01 5.19329990e-01 -1.04835334e-02 1.67012108e+02] [ 1.20072310e-02 4.28405617e-04 9.99927819e-01 4.46116397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72028169299995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:324.70, Y:167.06, Z:4.46 [[ 5.16005530e-01 -8.56565158e-01 -5.86704158e-03 3.24701262e+02] [ 8.56501071e-01 5.16038740e-01 -1.04849865e-02 1.67062066e+02] [ 1.20086949e-02 3.85183636e-04 9.99927819e-01 4.45973220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78028169299995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:324.73, Y:167.11, Z:4.46 [[ 5.09071645e-01 -8.60704169e-01 -5.86455239e-03 3.24729190e+02] [ 8.60640336e-01 5.09105341e-01 -1.04863786e-02 1.67110463e+02] [ 1.20113447e-02 2.91047664e-04 9.99927819e-01 4.45738254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84028169299995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:324.76, Y:167.16, Z:4.46 [[ 5.05526270e-01 -8.62791300e-01 -5.86193155e-03 3.24757115e+02] [ 8.62727589e-01 5.05560196e-01 -1.04878435e-02 1.67159588e+02] [ 1.20123794e-02 2.44630307e-04 9.99927819e-01 4.45997953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:324.78, Y:167.21, Z:4.46 [[ 5.04608210e-01 -8.63328571e-01 -5.85938956e-03 3.24784103e+02] [ 8.63264879e-01 5.04642174e-01 -1.04892634e-02 1.67208349e+02] [ 1.20125759e-02 2.34763230e-04 9.99927819e-01 4.45842433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96028169299996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:324.81, Y:167.26, Z:4.45 [[ 5.05459441e-01 -8.62830489e-01 -5.85673918e-03 3.24805571e+02] [ 8.62766746e-01 5.05493309e-01 -1.04907431e-02 1.67259269e+02] [ 1.20122754e-02 2.49645326e-04 9.99927819e-01 4.45426598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02028169299996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:324.83, Y:167.31, Z:4.46 [[ 5.03299187e-01 -8.64092391e-01 -5.85397247e-03 3.24826178e+02] [ 8.64028715e-01 5.03333181e-01 -1.04922867e-02 1.67311333e+02] [ 1.20128037e-02 2.22759053e-04 9.99927819e-01 4.45642339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08028169299996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:324.85, Y:167.36, Z:4.46 [[ 4.94807792e-01 -8.68982744e-01 -5.85151909e-03 3.24851363e+02] [ 8.68919389e-01 4.94842378e-01 -1.04936548e-02 1.67361804e+02] [ 1.20143845e-02 1.07843761e-04 9.99927819e-01 4.46461536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14028169299996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:324.88, Y:167.41, Z:4.46 [[ 4.81215416e-01 -8.76582861e-01 -5.84902778e-03 3.24878819e+02] [ 8.76520035e-01 4.81250956e-01 -1.04950432e-02 1.67411122e+02] [ 1.20146252e-02 -7.64134368e-05 9.99927819e-01 4.46246394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20028169299997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:324.91, Y:167.46, Z:4.46 [[ 4.73644915e-01 -8.80696493e-01 -5.84650506e-03 3.24909953e+02] [ 8.80633958e-01 4.73680965e-01 -1.04964484e-02 1.67457800e+02] [ 1.20135634e-02 -1.77041491e-04 9.99927819e-01 4.46019333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26028169299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:324.95, Y:167.50, Z:4.46 [[ 4.68577095e-01 -8.83403281e-01 -5.84374101e-03 3.24945639e+02] [ 8.83340935e-01 4.68613470e-01 -1.04979870e-02 1.67500390e+02] [ 1.20124119e-02 -2.42899406e-04 9.99927819e-01 4.45820028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.98, Y:167.54, Z:4.46 [[ 4.68996810e-01 -8.83180542e-01 -5.84141769e-03 3.24979933e+02] [ 8.83118163e-01 4.69033128e-01 -1.04992796e-02 1.67543593e+02] [ 1.20125779e-02 -2.34533419e-04 9.99927819e-01 4.46371832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.380281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:325.02, Y:167.59, Z:4.46 [[ 4.69773382e-01 -8.82767739e-01 -5.83861877e-03 3.25016478e+02] [ 8.82705308e-01 4.69809612e-01 -1.05008358e-02 1.67586660e+02] [ 1.20128383e-02 -2.20766620e-04 9.99927819e-01 4.46165873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.440281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:325.05, Y:167.63, Z:4.47 [[ 4.75252900e-01 -8.79829883e-01 -5.83589013e-03 3.25051288e+02] [ 8.79767210e-01 4.75288708e-01 -1.05023521e-02 1.67630797e+02] [ 1.20140159e-02 -1.42951494e-04 9.99927819e-01 4.46888509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.500281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:325.08, Y:167.68, Z:4.47 [[ 4.85312303e-01 -8.74321419e-01 -5.83317366e-03 3.25079482e+02] [ 8.74258321e-01 4.85347357e-01 -1.05038606e-02 1.67678426e+02] [ 1.20148657e-02 -2.04782562e-06 9.99927819e-01 4.47033917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.560281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:325.10, Y:167.73, Z:4.47 [[ 4.93598284e-01 -8.69670478e-01 -5.83040678e-03 3.25103971e+02] [ 8.69607032e-01 4.93632704e-01 -1.05053962e-02 1.67728129e+02] [ 1.20143124e-02 1.15282814e-04 9.99927819e-01 4.46620700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.620281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:325.13, Y:167.78, Z:4.47 [[ 4.98081157e-01 -8.67110834e-01 -5.82768027e-03 3.25129255e+02] [ 8.67047194e-01 4.98115216e-01 -1.05069085e-02 1.67778876e+02] [ 1.20135104e-02 1.80419313e-04 9.99927819e-01 4.46579448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.680281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:325.15, Y:167.83, Z:4.47 [[ 4.97651408e-01 -8.67357564e-01 -5.82519220e-03 3.25152567e+02] [ 8.67293924e-01 4.97685468e-01 -1.05082877e-02 1.67827743e+02] [ 1.20135564e-02 1.77310377e-04 9.99927819e-01 4.46519292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.740281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:325.17, Y:167.88, Z:4.47 [[ 4.99029755e-01 -8.66565291e-01 -5.82235995e-03 3.25174030e+02] [ 8.66501579e-01 4.99063679e-01 -1.05098568e-02 1.67879596e+02] [ 1.20132055e-02 1.99647160e-04 9.99927819e-01 4.47241353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.800281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:325.20, Y:167.93, Z:4.47 [[ 5.00418886e-01 -8.65763864e-01 -5.81979239e-03 3.25198383e+02] [ 8.65700081e-01 5.00452678e-01 -1.05112784e-02 1.67930186e+02] [ 1.20128157e-02 2.21847468e-04 9.99927819e-01 4.46930515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86028169299993 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:325.22, Y:167.98, Z:4.47 [[ 5.03432919e-01 -8.64014731e-01 -5.81723496e-03 3.25221005e+02] [ 8.63950815e-01 5.03466457e-01 -1.05126935e-02 1.67981203e+02] [ 1.20119047e-02 2.66631106e-04 9.99927819e-01 4.46612173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92028169299994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:325.24, Y:168.04, Z:4.47 [[ 5.06643611e-01 -8.62135977e-01 -5.81457655e-03 3.25239115e+02] [ 8.62071919e-01 5.06676878e-01 -1.05141637e-02 1.68035646e+02] [ 1.20107503e-02 3.14350686e-04 9.99927819e-01 4.46955474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:325.26, Y:168.09, Z:4.47 [[ 5.07583783e-01 -8.61582801e-01 -5.81212838e-03 3.25258310e+02] [ 8.61518691e-01 5.07616951e-01 -1.05155168e-02 1.68088136e+02] [ 1.20103233e-02 3.30248580e-04 9.99927819e-01 4.46658987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.28, Y:168.14, Z:4.47 [[ 5.04027387e-01 -8.63668128e-01 -5.81019290e-03 3.25275257e+02] [ 8.63604143e-01 5.04060795e-01 -1.05165861e-02 1.68142093e+02] [ 1.20115307e-02 2.82940768e-04 9.99927819e-01 4.46954660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10028169299994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:325.30, Y:168.20, Z:4.47 [[ 4.98431801e-01 -8.66909460e-01 -5.80754976e-03 3.25296166e+02] [ 8.66845676e-01 4.98465590e-01 -1.05180456e-02 1.68195171e+02] [ 1.20130569e-02 2.08278992e-04 9.99927819e-01 4.47297843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16028169299994 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:325.32, Y:168.25, Z:4.47 [[ 4.91890375e-01 -8.70637789e-01 -5.80507250e-03 3.25316630e+02] [ 8.70574245e-01 4.91924614e-01 -1.05194126e-02 1.68247075e+02] [ 1.20142562e-02 1.20651209e-04 9.99927819e-01 4.46870875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.34, Y:168.30, Z:4.48 [[ 4.83418374e-01 -8.75370211e-01 -5.80249325e-03 3.25341297e+02] [ 8.75306986e-01 4.83453196e-01 -1.05208351e-02 1.68297971e+02] [ 1.20148596e-02 7.00213707e-06 9.99927819e-01 4.47989041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28028169299995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:325.37, Y:168.35, Z:4.48 [[ 4.80147487e-01 -8.77168598e-01 -5.80014023e-03 3.25365078e+02] [ 8.77105487e-01 4.80182517e-01 -1.05221322e-02 1.68348007e+02] [ 1.20148099e-02 -3.51594894e-05 9.99927819e-01 4.48230339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34028169299995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:325.39, Y:168.40, Z:4.47 [[ 4.82771960e-01 -8.75726912e-01 -5.79745058e-03 3.25385419e+02] [ 8.75663678e-01 4.82806769e-01 -1.05236139e-02 1.68399320e+02] [ 1.20148603e-02 3.88882355e-06 9.99927819e-01 4.46902857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:325.41, Y:168.45, Z:4.47 [[ 4.84723369e-01 -8.74648316e-01 -5.79466844e-03 3.25409560e+02] [ 8.74584987e-01 4.84758003e-01 -1.05251456e-02 1.68449502e+02] [ 1.20148128e-02 3.38540349e-05 9.99927819e-01 4.47327250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:325.43, Y:168.50, Z:4.48 [[ 4.86665427e-01 -8.73569238e-01 -5.79214969e-03 3.25432839e+02] [ 8.73505815e-01 4.86699890e-01 -1.05265316e-02 1.68499832e+02] [ 1.20146928e-02 6.34225455e-05 9.99927819e-01 4.47646341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:325.46, Y:168.55, Z:4.48 [[ 4.86999105e-01 -8.73383279e-01 -5.78955117e-03 3.25457425e+02] [ 8.73319827e-01 4.87033512e-01 -1.05279605e-02 1.68549264e+02] [ 1.20146502e-02 7.09775366e-05 9.99927819e-01 4.47978177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:325.48, Y:168.60, Z:4.48 [[ 4.85890189e-01 -8.74000707e-01 -5.78695154e-03 3.25484570e+02] [ 8.73937281e-01 4.85924645e-01 -1.05293893e-02 1.68598064e+02] [ 1.20147161e-02 5.86942689e-05 9.99927819e-01 4.47995565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.51, Y:168.65, Z:4.48 [[ 4.83588017e-01 -8.75276626e-01 -5.78430467e-03 3.25512195e+02] [ 8.75213273e-01 4.83622608e-01 -1.05308432e-02 1.68645801e+02] [ 1.20148214e-02 3.00893326e-05 9.99927819e-01 4.47860220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.55, Y:168.69, Z:4.48 [[ 4.76724808e-01 -8.79033577e-01 -5.78166616e-03 3.25545294e+02] [ 8.78970480e-01 4.76759863e-01 -1.05322916e-02 1.68689949e+02] [ 1.20147043e-02 -6.09091976e-05 9.99927819e-01 4.47671016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76028169299997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:325.57, Y:168.74, Z:4.48 [[ 4.74510719e-01 -8.80230752e-01 -5.77943645e-03 3.25574381e+02] [ 8.80167728e-01 4.74545905e-01 -1.05335149e-02 1.68736780e+02] [ 1.20145317e-02 -8.86077070e-05 9.99927819e-01 4.47694556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.82028169299997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:325.61, Y:168.78, Z:4.48 [[ 4.72216980e-01 -8.81463416e-01 -5.77668388e-03 3.25607679e+02] [ 8.81400466e-01 4.72252297e-01 -1.05350243e-02 1.68782070e+02] [ 1.20142907e-02 -1.16754524e-04 9.99927819e-01 4.47638239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.880281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:325.64, Y:168.83, Z:4.48 [[ 4.72730210e-01 -8.81188294e-01 -5.77394915e-03 3.25640665e+02] [ 8.81125305e-01 4.72765459e-01 -1.05365229e-02 1.68828363e+02] [ 1.20143843e-02 -1.06640024e-04 9.99927819e-01 4.47548751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.940281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.67, Y:168.87, Z:4.48 [[ 4.74329630e-01 -8.80328401e-01 -5.77138159e-03 3.25672985e+02] [ 8.80265330e-01 4.74364733e-01 -1.05379291e-02 1.68873752e+02] [ 1.20145781e-02 -8.18951295e-05 9.99927819e-01 4.47596395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.000281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.70, Y:168.92, Z:4.49 [[ 4.78567635e-01 -8.78031742e-01 -5.76871892e-03 3.25703588e+02] [ 8.77968486e-01 4.78602402e-01 -1.05393865e-02 1.68919423e+02] [ 1.20148386e-02 -2.09441580e-05 9.99927819e-01 4.48507522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.060281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.73, Y:168.97, Z:4.48 [[ 4.84644761e-01 -8.74692064e-01 -5.76612886e-03 3.25731627e+02] [ 8.74628551e-01 4.84679057e-01 -1.05408033e-02 1.68967511e+02] [ 1.20146789e-02 6.53241770e-05 9.99927819e-01 4.48331287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.120281693 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:325.76, Y:169.02, Z:4.48 [[ 4.89781860e-01 -8.71825965e-01 -5.76344552e-03 3.25757641e+02] [ 8.71762234e-01 4.89815749e-01 -1.05422703e-02 1.69016805e+02] [ 1.20140514e-02 1.39058609e-04 9.99927819e-01 4.47863546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.180281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.78, Y:169.07, Z:4.49 [[ 4.95434863e-01 -8.68625990e-01 -5.76079824e-03 3.25781879e+02] [ 8.68562024e-01 4.95468305e-01 -1.05437167e-02 1.69067908e+02] [ 1.20128393e-02 2.20114260e-04 9.99927819e-01 4.48552392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.240281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:325.80, Y:169.12, Z:4.49 [[ 4.98776805e-01 -8.66711336e-01 -5.75841049e-03 3.25804598e+02] [ 8.66647226e-01 4.98809972e-01 -1.05450206e-02 1.69118355e+02] [ 1.20118415e-02 2.69101202e-04 9.99927819e-01 4.48772184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.300281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:325.82, Y:169.17, Z:4.48 [[ 4.99766976e-01 -8.66140774e-01 -5.75580616e-03 3.25824263e+02] [ 8.66076610e-01 4.99800037e-01 -1.05464419e-02 1.69171189e+02] [ 1.20114555e-02 2.85794301e-04 9.99927819e-01 4.48064750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.36028169299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.85, Y:169.22, Z:4.48 [[ 4.95757430e-01 -8.68441980e-01 -5.75314906e-03 3.25847032e+02] [ 8.68377953e-01 4.95790756e-01 -1.05478912e-02 1.69222590e+02] [ 1.20125896e-02 2.33287626e-04 9.99927819e-01 4.48470213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:325.87, Y:169.27, Z:4.49 [[ 4.91182037e-01 -8.71037965e-01 -5.75068821e-03 3.25869573e+02] [ 8.70974098e-01 4.91215670e-01 -1.05492327e-02 1.69274617e+02] [ 1.20136103e-02 1.72893123e-04 9.99927819e-01 4.49304441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.89, Y:169.33, Z:4.49 [[ 4.88737803e-01 -8.72411782e-01 -5.74824013e-03 3.25891821e+02] [ 8.72347994e-01 4.88771585e-01 -1.05505665e-02 1.69326746e+02] [ 1.20140149e-02 1.41994919e-04 9.99927819e-01 4.48734023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54028169299994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:325.91, Y:169.38, Z:4.49 [[ 4.88500714e-01 -8.72544577e-01 -5.74575829e-03 3.25912456e+02] [ 8.72480783e-01 4.88534483e-01 -1.05519179e-02 1.69377046e+02] [ 1.20140198e-02 1.41555722e-04 9.99927819e-01 4.48663314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:325.94, Y:169.43, Z:4.49 [[ 4.85165196e-01 -8.74403655e-01 -5.74292640e-03 3.25936116e+02] [ 8.74339971e-01 4.85199175e-01 -1.05534589e-02 1.69426799e+02] [ 1.20144462e-02 9.89008669e-05 9.99927819e-01 4.48763198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:325.96, Y:169.48, Z:4.49 [[ 4.78152059e-01 -8.78258309e-01 -5.74029822e-03 3.25960981e+02] [ 8.78194883e-01 4.78186514e-01 -1.05548883e-02 1.69476973e+02] [ 1.20148515e-02 5.74102193e-06 9.99927819e-01 4.48901475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.99, Y:169.52, Z:4.49 [[ 4.69462555e-01 -8.82933740e-01 -5.73766613e-03 3.25991232e+02] [ 8.82870639e-01 4.69497603e-01 -1.05563189e-02 1.69524937e+02] [ 1.20143506e-02 -1.09820532e-04 9.99927819e-01 4.49201617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78028169299995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:326.02, Y:169.57, Z:4.49 [[ 4.65212814e-01 -8.85180290e-01 -5.73512734e-03 3.26019594e+02] [ 8.85117341e-01 4.65248135e-01 -1.05576980e-02 1.69571288e+02] [ 1.20137235e-02 -1.64684262e-04 9.99927819e-01 4.49217863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:326.05, Y:169.62, Z:4.49 [[ 4.61313890e-01 -8.87218483e-01 -5.73225549e-03 3.26050705e+02] [ 8.87155671e-01 4.61349453e-01 -1.05592570e-02 1.69617335e+02] [ 1.20129409e-02 -2.14271034e-04 9.99927819e-01 4.48870059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.08, Y:169.66, Z:4.49 [[ 4.59612317e-01 -8.88101172e-01 -5.72951167e-03 3.26082254e+02] [ 8.88038409e-01 4.59647968e-01 -1.05607456e-02 1.69662526e+02] [ 1.20125690e-02 -2.34177670e-04 9.99927819e-01 4.49308172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96028169299996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:326.11, Y:169.71, Z:4.49 [[ 4.60199416e-01 -8.87797107e-01 -5.72667994e-03 3.26113771e+02] [ 8.87734302e-01 4.60234991e-01 -1.05622809e-02 1.69708894e+02] [ 1.20127810e-02 -2.23014703e-04 9.99927819e-01 4.49369500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02028169299996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:326.14, Y:169.76, Z:4.50 [[ 4.61714308e-01 -8.87010222e-01 -5.72399248e-03 3.26141902e+02] [ 8.86947338e-01 4.61749744e-01 -1.05637371e-02 1.69756406e+02] [ 1.20131949e-02 -1.99451311e-04 9.99927819e-01 4.49569029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:326.17, Y:169.80, Z:4.50 [[ 4.68357231e-01 -8.83520669e-01 -5.72123788e-03 3.26169057e+02] [ 8.83457503e-01 4.68392161e-01 -1.05652288e-02 1.69803621e+02] [ 1.20143810e-02 -1.06169226e-04 9.99927819e-01 4.49857974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14028169299996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:326.20, Y:169.85, Z:4.49 [[ 4.75987937e-01 -8.79433217e-01 -5.71838661e-03 3.26195276e+02] [ 8.79369733e-01 4.76022286e-01 -1.05667718e-02 1.69852289e+02] [ 1.20148496e-02 1.07982068e-06 9.99927819e-01 4.49462639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.22, Y:169.90, Z:4.50 [[ 4.78490234e-01 -8.78074273e-01 -5.71560913e-03 3.26221961e+02] [ 8.78010673e-01 4.78524368e-01 -1.05682740e-02 1.69900099e+02] [ 1.20147877e-02 3.84500564e-05 9.99927819e-01 4.49884300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26028169299997 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:326.25, Y:169.95, Z:4.50 [[ 4.80050596e-01 -8.77222197e-01 -5.71324339e-03 3.26248283e+02] [ 8.77158522e-01 4.80084589e-01 -1.05695527e-02 1.69949461e+02] [ 1.20146864e-02 6.24999639e-05 9.99927819e-01 4.49765436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.32028169299997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:326.27, Y:170.00, Z:4.50 [[ 4.84709677e-01 -8.74656458e-01 -5.71047025e-03 3.26270288e+02] [ 8.74592585e-01 4.84743297e-01 -1.05710508e-02 1.69999271e+02] [ 1.20141500e-02 1.29555677e-04 9.99927819e-01 4.50176412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.380281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:326.29, Y:170.05, Z:4.50 [[ 4.89738161e-01 -8.71850880e-01 -5.70760971e-03 3.26290218e+02] [ 8.71786796e-01 4.89771378e-01 -1.05725950e-02 1.70051150e+02] [ 1.20131502e-02 2.01984472e-04 9.99927819e-01 4.50323851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.440281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:326.31, Y:170.10, Z:4.50 [[ 4.92225624e-01 -8.70448959e-01 -5.70488105e-03 3.26308520e+02] [ 8.70384763e-01 4.92258624e-01 -1.05740672e-02 1.70104659e+02] [ 1.20124627e-02 2.39385269e-04 9.99927819e-01 4.49801360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.500281693 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:326.33, Y:170.16, Z:4.50 [[ 4.89974422e-01 -8.71718160e-01 -5.70217678e-03 3.26329309e+02] [ 8.71654033e-01 4.90007555e-01 -1.05755253e-02 1.70157611e+02] [ 1.20129872e-02 2.11411504e-04 9.99927819e-01 4.50258722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.560281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:326.35, Y:170.21, Z:4.51 [[ 4.85905849e-01 -8.73992574e-01 -5.69968553e-03 3.26352523e+02] [ 8.73928586e-01 4.85939251e-01 -1.05768678e-02 1.70207341e+02] [ 1.20138048e-02 1.58243812e-04 9.99927819e-01 4.50656127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.620281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:326.38, Y:170.26, Z:4.51 [[ 4.78299568e-01 -8.78178263e-01 -5.69758402e-03 3.26377996e+02] [ 8.78114554e-01 4.78333499e-01 -1.05779997e-02 1.70257175e+02] [ 1.20147147e-02 5.63212429e-05 9.99927819e-01 4.50843675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.680281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:326.41, Y:170.30, Z:4.51 [[ 4.75208793e-01 -8.79854630e-01 -5.69504274e-03 3.26405945e+02] [ 8.79791024e-01 4.75242918e-01 -1.05793677e-02 1.70304557e+02] [ 1.20148344e-02 1.69610906e-05 9.99927819e-01 4.50957806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.740281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:326.43, Y:170.35, Z:4.50 [[ 4.77350082e-01 -8.78694769e-01 -5.69238912e-03 3.26432896e+02] [ 8.78631063e-01 4.77384019e-01 -1.05807954e-02 1.70353106e+02] [ 1.20147451e-02 4.92336250e-05 9.99927819e-01 4.50158888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.800281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:326.46, Y:170.40, Z:4.50 [[ 4.81014017e-01 -8.76694442e-01 -5.68963473e-03 3.26460533e+02] [ 8.76630578e-01 4.81047654e-01 -1.05822763e-02 1.70400205e+02] [ 1.20144082e-02 1.02515426e-04 9.99927819e-01 4.50216857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86028169299993 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:326.49, Y:170.45, Z:4.51 [[ 4.85659781e-01 -8.74129417e-01 -5.68678397e-03 3.26485675e+02] [ 8.74065357e-01 4.85693045e-01 -1.05838080e-02 1.70449942e+02] [ 1.20136493e-02 1.69509018e-04 9.99927819e-01 4.50610171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.92028169299994 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:326.51, Y:170.50, Z:4.50 [[ 4.92336950e-01 -8.70386133e-01 -5.68403022e-03 3.26505990e+02] [ 8.70321803e-01 4.92369689e-01 -1.05852867e-02 1.70502332e+02] [ 1.20119309e-02 2.64592343e-04 9.99927819e-01 4.49815305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98028169299994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:326.53, Y:170.56, Z:4.51 [[ 4.95627139e-01 -8.68516813e-01 -5.68206114e-03 3.26526910e+02] [ 8.68452348e-01 4.95659610e-01 -1.05863436e-02 1.70555730e+02] [ 1.20107856e-02 3.12279844e-04 9.99927819e-01 4.50758828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04028169299994 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:326.55, Y:170.61, Z:4.51 [[ 4.96468873e-01 -8.68035943e-01 -5.67980857e-03 3.26545410e+02] [ 8.67971433e-01 4.96501255e-01 -1.05875520e-02 1.70608109e+02] [ 1.20104078e-02 3.26478429e-04 9.99927819e-01 4.50806679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.57, Y:170.66, Z:4.50 [[ 4.96716738e-01 -8.67894144e-01 -5.67783029e-03 3.26565802e+02] [ 8.67829613e-01 4.96749076e-01 -1.05886128e-02 1.70660465e+02] [ 1.20102520e-02 3.32151945e-04 9.99927819e-01 4.50476949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16028169299994 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:326.58, Y:170.71, Z:4.51 [[ 4.98316721e-01 -8.66976492e-01 -5.67528781e-03 3.26582648e+02] [ 8.66911885e-01 4.98348909e-01 -1.05899753e-02 1.70712675e+02] [ 1.20095332e-02 3.57187331e-04 9.99927819e-01 4.50699367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22028169299995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:326.60, Y:170.77, Z:4.51 [[ 4.98872473e-01 -8.66656841e-01 -5.67238056e-03 3.26602002e+02] [ 8.66592196e-01 4.98904585e-01 -1.05915323e-02 1.70766552e+02] [ 1.20092006e-02 3.68183201e-04 9.99927819e-01 4.50877825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28028169299995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:326.62, Y:170.82, Z:4.52 [[ 4.94535177e-01 -8.69139120e-01 -5.66996672e-03 3.26622318e+02] [ 8.69074622e-01 4.94567582e-01 -1.05928244e-02 1.70818837e+02] [ 1.20108198e-02 3.10900098e-04 9.99927819e-01 4.51589056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34028169299995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:326.65, Y:170.87, Z:4.51 [[ 4.88211285e-01 -8.72707066e-01 -5.66734158e-03 3.26645486e+02] [ 8.72642788e-01 4.88244126e-01 -1.05942287e-02 1.70869857e+02] [ 1.20127045e-02 2.26657242e-04 9.99927819e-01 4.51000753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40028169299995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:326.67, Y:170.92, Z:4.51 [[ 4.84605172e-01 -8.74714660e-01 -5.66482374e-03 3.26668840e+02] [ 8.74650503e-01 4.84638248e-01 -1.05955748e-02 1.70920515e+02] [ 1.20134949e-02 1.79929434e-04 9.99927819e-01 4.50539096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:326.69, Y:170.97, Z:4.51 [[ 4.83979270e-01 -8.75061144e-01 -5.66219585e-03 3.26692915e+02] [ 8.74996994e-01 4.84012359e-01 -1.05969790e-02 1.70971836e+02] [ 1.20135773e-02 1.74313792e-04 9.99927819e-01 4.51055092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52028169299996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:326.72, Y:171.02, Z:4.51 [[ 4.86210101e-01 -8.73823612e-01 -5.65972309e-03 3.26716460e+02] [ 8.73759363e-01 4.86242996e-01 -1.05982995e-02 1.71021585e+02] [ 1.20130450e-02 2.07764210e-04 9.99927819e-01 4.51068990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58028169299996 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:326.74, Y:171.07, Z:4.51 [[ 4.82970027e-01 -8.75618608e-01 -5.65741629e-03 3.26742163e+02] [ 8.75554467e-01 4.83003132e-01 -1.05995307e-02 1.71072015e+02] [ 1.20136961e-02 1.65879528e-04 9.99927819e-01 4.50686726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64028169299996 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:326.77, Y:171.12, Z:4.51 [[ 4.78507179e-01 -8.78065432e-01 -5.65482949e-03 3.26765562e+02] [ 8.78001444e-01 4.78540579e-01 -1.06009106e-02 1.71122666e+02] [ 1.20143585e-02 1.07663362e-04 9.99927819e-01 4.50618638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70028169299997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:326.79, Y:171.17, Z:4.51 [[ 4.75645641e-01 -8.79618821e-01 -5.65278109e-03 3.26792730e+02] [ 8.79554929e-01 4.75679224e-01 -1.06020028e-02 1.71173150e+02] [ 1.20146317e-02 7.08649224e-05 9.99927819e-01 4.51307494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76028169299997 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:326.82, Y:171.22, Z:4.52 [[ 4.73496004e-01 -8.80777841e-01 -5.65049798e-03 3.26816559e+02] [ 8.80714017e-01 4.73529716e-01 -1.06032194e-02 1.71222851e+02] [ 1.20147594e-02 4.41092518e-05 9.99927819e-01 4.51685493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.82028169299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:326.84, Y:171.27, Z:4.51 [[ 4.73880507e-01 -8.80571046e-01 -5.64785954e-03 3.26841914e+02] [ 8.80507190e-01 4.73914159e-01 -1.06046246e-02 1.71272820e+02] [ 1.20147260e-02 5.23439574e-05 9.99927819e-01 4.51264022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.880281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:326.87, Y:171.32, Z:4.51 [[ 4.75001889e-01 -8.79966667e-01 -5.64535100e-03 3.26865559e+02] [ 8.79902753e-01 4.75035430e-01 -1.06059599e-02 1.71322607e+02] [ 1.20146329e-02 7.04910929e-05 9.99927819e-01 4.51446301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.940281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:326.89, Y:171.37, Z:4.52 [[ 4.76540615e-01 -8.79134348e-01 -5.64274073e-03 3.26890112e+02] [ 8.79070358e-01 4.76574012e-01 -1.06073484e-02 1.71372679e+02] [ 1.20144679e-02 9.44662390e-05 9.99927819e-01 4.52124780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.000281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.91, Y:171.42, Z:4.52 [[ 4.77918785e-01 -8.78385920e-01 -5.64008587e-03 3.26911307e+02] [ 8.78321862e-01 4.77952050e-01 -1.06087599e-02 1.71424462e+02] [ 1.20142759e-02 1.16314914e-04 9.99927819e-01 4.51749207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.060281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:326.94, Y:171.47, Z:4.52 [[ 4.73166081e-01 -8.80955209e-01 -5.63745175e-03 3.26938453e+02] [ 8.80891314e-01 4.73199659e-01 -1.06101595e-02 1.71474275e+02] [ 1.20147155e-02 5.43852822e-05 9.99927819e-01 4.51918774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.120281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:326.97, Y:171.52, Z:4.52 [[ 4.66635262e-01 -8.84431897e-01 -5.63489532e-03 3.26967498e+02] [ 8.84368236e-01 4.66669282e-01 -1.06115170e-02 1.71521127e+02] [ 1.20147966e-02 -3.16144300e-05 9.99927819e-01 4.51676207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.180281693 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:327.00, Y:171.57, Z:4.52 [[ 4.64096458e-01 -8.85766761e-01 -5.63224573e-03 3.26997977e+02] [ 8.85703181e-01 4.64130629e-01 -1.06129231e-02 1.71568810e+02] [ 1.20146723e-02 -6.30779385e-05 9.99927819e-01 4.51529424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.240281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:327.02, Y:171.62, Z:4.51 [[ 4.68680270e-01 -8.83349937e-01 -5.62973437e-03 3.27023965e+02] [ 8.83286164e-01 4.68714081e-01 -1.06142551e-02 1.71617143e+02] [ 1.20148373e-02 2.02547195e-06 9.99927819e-01 4.51366638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.300281693 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:327.05, Y:171.67, Z:4.52 [[ 4.70573757e-01 -8.82342720e-01 -5.62711972e-03 3.27051530e+02] [ 8.82278858e-01 4.70607399e-01 -1.06156411e-02 1.71665793e+02] [ 1.20147978e-02 3.07533438e-05 9.99927819e-01 4.51503441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36028169299993 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:327.08, Y:171.72, Z:4.52 [[ 4.68886198e-01 -8.83240680e-01 -5.62446789e-03 3.27078385e+02] [ 8.83176866e-01 4.68919930e-01 -1.06170459e-02 1.71715232e+02] [ 1.20148319e-02 1.07863553e-05 9.99927819e-01 4.51869547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42028169299994 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:327.11, Y:171.76, Z:4.52 [[ 4.63486397e-01 -8.86086200e-01 -5.62196189e-03 3.27107987e+02] [ 8.86022577e-01 4.63520488e-01 -1.06183727e-02 1.71760854e+02] [ 1.20146881e-02 -5.97138459e-05 9.99927819e-01 4.51828452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48028169299994 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:327.14, Y:171.81, Z:4.52 [[ 4.59786061e-01 -8.88011939e-01 -5.61910963e-03 3.27138173e+02] [ 8.87948440e-01 4.59820384e-01 -1.06198819e-02 1.71807562e+02] [ 1.20143631e-02 -1.06605964e-04 9.99927819e-01 4.52011242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54028169299994 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:327.17, Y:171.85, Z:4.52 [[ 4.56234221e-01 -8.89842003e-01 -5.61646691e-03 3.27170688e+02] [ 8.89778626e-01 4.56268765e-01 -1.06212793e-02 1.71852782e+02] [ 1.20138789e-02 -1.51621101e-04 9.99927819e-01 4.51897183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60028169299994 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:327.21, Y:171.90, Z:4.53 [[ 4.49747176e-01 -8.93138267e-01 -5.61374468e-03 3.27205346e+02] [ 8.93075124e-01 4.49782149e-01 -1.06227179e-02 1.71896673e+02] [ 1.20125180e-02 -2.35958327e-04 9.99927819e-01 4.52680060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66028169299994 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:327.24, Y:171.94, Z:4.53 [[ 4.42333632e-01 -8.96833025e-01 -5.61105323e-03 3.27243242e+02] [ 8.96770156e-01 4.42369094e-01 -1.06241394e-02 1.71938918e+02] [ 1.20102356e-02 -3.32410903e-04 9.99927819e-01 4.53054229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72028169299995 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:327.28, Y:171.98, Z:4.53 [[ 4.38836501e-01 -8.98549427e-01 -5.60828703e-03 3.27280744e+02] [ 8.98486678e-01 4.38872175e-01 -1.06255994e-02 1.71983000e+02] [ 1.20089474e-02 -3.76070309e-04 9.99927819e-01 4.52661096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78028169299995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:327.32, Y:172.03, Z:4.52 [[ 4.40843906e-01 -8.97566280e-01 -5.60573996e-03 3.27316846e+02] [ 8.97503434e-01 4.40879410e-01 -1.06269430e-02 1.72025374e+02] [ 1.20098410e-02 -3.46347797e-04 9.99927819e-01 4.52037660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84028169299995 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:327.35, Y:172.07, Z:4.52 [[ 4.43926067e-01 -8.96045900e-01 -5.60282619e-03 3.27352607e+02] [ 8.95982914e-01 4.43961320e-01 -1.06284790e-02 1.72069789e+02] [ 1.20110432e-02 -3.01777639e-04 9.99927819e-01 4.51976705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90028169299995 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:327.39, Y:172.11, Z:4.53 [[ 4.47744972e-01 -8.94143769e-01 -5.60004772e-03 3.27387747e+02] [ 8.94080615e-01 4.47779922e-01 -1.06299428e-02 1.72114170e+02] [ 1.20122860e-02 -2.47390677e-04 9.99927819e-01 4.52784324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96028169299996 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:327.42, Y:172.16, Z:4.53 [[ 4.50751441e-01 -8.92631955e-01 -5.59742315e-03 3.27419608e+02] [ 8.92568666e-01 4.50786148e-01 -1.06313246e-02 1.72159757e+02] [ 1.20131009e-02 -2.03999628e-04 9.99927819e-01 4.52699562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02028169299996 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:327.45, Y:172.21, Z:4.52 [[ 4.54990865e-01 -8.90478530e-01 -5.59469455e-03 3.27450004e+02] [ 8.90415059e-01 4.55025238e-01 -1.06327603e-02 1.72205835e+02] [ 1.20139720e-02 -1.43791452e-04 9.99927819e-01 4.52196385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08028169299996 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:327.48, Y:172.25, Z:4.52 [[ 4.56322537e-01 -8.89796872e-01 -5.59185000e-03 3.27481317e+02] [ 8.89733332e-01 4.56356781e-01 -1.06342561e-02 1.72251744e+02] [ 1.20142065e-02 -1.22604609e-04 9.99927819e-01 4.52237915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14028169299996 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:327.51, Y:172.30, Z:4.53 [[ 4.55238717e-01 -8.90351881e-01 -5.58916189e-03 3.27513671e+02] [ 8.90288365e-01 4.55273006e-01 -1.06356687e-02 1.72298065e+02] [ 1.20140822e-02 -1.34197619e-04 9.99927819e-01 4.52992043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20028169299997 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:327.55, Y:172.34, Z:4.53 [[ 4.59108849e-01 -8.88362456e-01 -5.58673720e-03 3.27545708e+02] [ 8.88298776e-01 4.59142833e-01 -1.06369422e-02 1.72343745e+02] [ 1.20145705e-02 -7.91775132e-05 9.99927819e-01 4.53183327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26028169299997 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:327.57, Y:172.39, Z:4.53 [[ 4.65688816e-01 -8.84930926e-01 -5.58408106e-03 3.27573853e+02] [ 8.84866979e-01 4.65722294e-01 -1.06383364e-02 1.72391187e+02] [ 1.20148240e-02 1.29853623e-05 9.99927819e-01 4.53315161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.32028169299997 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:327.60, Y:172.44, Z:4.53 [[ 4.72003519e-01 -8.81578996e-01 -5.58134961e-03 3.27599699e+02] [ 8.81514794e-01 4.72036506e-01 -1.06397693e-02 1.72438862e+02] [ 1.20143979e-02 1.01966295e-04 9.99927819e-01 4.52653443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.380281693 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:327.62, Y:172.49, Z:4.53 [[ 4.70708658e-01 -8.82271069e-01 -5.57853678e-03 3.27624974e+02] [ 8.82206898e-01 4.70741705e-01 -1.06412439e-02 1.72488733e+02] [ 1.20145115e-02 8.75020032e-05 9.99927819e-01 4.52554003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.440281693 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:327.65, Y:172.54, Z:4.53 [[ 4.67524300e-01 -8.83962634e-01 -5.57597461e-03 3.27649664e+02] [ 8.83898566e-01 4.67557548e-01 -1.06425863e-02 1.72538925e+02] [ 1.20147376e-02 4.70717375e-05 9.99927819e-01 4.53075509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.500281693 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:327.67, Y:172.59, Z:4.53 [[ 4.68023851e-01 -8.83698260e-01 -5.57324016e-03 3.27671542e+02] [ 8.83634156e-01 4.68057029e-01 -1.06440180e-02 1.72590689e+02] [ 1.20146945e-02 5.69489534e-05 9.99927819e-01 4.53007872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.560281693 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:327.69, Y:172.64, Z:4.53 [[ 4.66402747e-01 -8.84554941e-01 -5.57073385e-03 3.27692144e+02] [ 8.84490883e-01 4.66436013e-01 -1.06453296e-02 1.72642254e+02] [ 1.20147698e-02 3.77476673e-05 9.99927819e-01 4.53363380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.620281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:327.72, Y:172.69, Z:4.54 [[ 4.63739922e-01 -8.85953883e-01 -5.56790532e-03 3.27716592e+02] [ 8.85889908e-01 4.63773347e-01 -1.06468088e-02 1.72690825e+02] [ 1.20148277e-02 4.79916850e-06 9.99927819e-01 4.53532486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.680281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:327.74, Y:172.74, Z:4.54 [[ 4.60649918e-01 -8.87564467e-01 -5.56501129e-03 3.27743018e+02] [ 8.87500590e-01 4.60683531e-01 -1.06483213e-02 1.72738622e+02] [ 1.20147807e-02 -3.38024682e-05 9.99927819e-01 4.53752737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.740281693 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:327.77, Y:172.79, Z:4.54 [[ 4.61831985e-01 -8.86949987e-01 -5.56217070e-03 3.27768517e+02] [ 8.86886048e-01 4.61865478e-01 -1.06498049e-02 1.72787402e+02] [ 1.20148189e-02 -1.45910677e-05 9.99927819e-01 4.53921851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.800281693 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:327.79, Y:172.84, Z:4.54 [[ 4.65207445e-01 -8.85184233e-01 -5.55933370e-03 3.27792563e+02] [ 8.85120149e-01 4.65240660e-01 -1.06512856e-02 1.72837658e+02] [ 1.20147782e-02 3.43790981e-05 9.99927819e-01 4.53765948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86028169299993 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:327.82, Y:172.89, Z:4.54 [[ 4.68441870e-01 -8.83476847e-01 -5.55652544e-03 3.27815192e+02] [ 8.83412625e-01 4.68474817e-01 -1.06527504e-02 1.72886793e+02] [ 1.20145506e-02 8.14896073e-05 9.99927819e-01 4.53742366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92028169299994 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:327.84, Y:172.94, Z:4.54 [[ 4.71442182e-01 -8.81879485e-01 -5.55362660e-03 3.27837891e+02] [ 8.81815133e-01 4.71474875e-01 -1.06542615e-02 1.72937066e+02] [ 1.20141700e-02 1.25596297e-04 9.99927819e-01 4.53618615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98028169299994 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:327.86, Y:172.99, Z:4.54 [[ 4.75471657e-01 -8.79713528e-01 -5.55089540e-03 3.27856199e+02] [ 8.79649010e-01 4.75504023e-01 -1.06556842e-02 1.72990203e+02] [ 1.20134227e-02 1.83636205e-04 9.99927819e-01 4.54191039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04028169299994 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:327.88, Y:173.04, Z:4.54 [[ 4.78836330e-01 -8.77886659e-01 -5.54831725e-03 3.27875668e+02] [ 8.77822002e-01 4.78868417e-01 -1.06570265e-02 1.73042168e+02] [ 1.20125753e-02 2.32536499e-04 9.99927819e-01 4.53802279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10028169299994 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:327.90, Y:173.09, Z:4.54 [[ 4.76644201e-01 -8.79078808e-01 -5.54567927e-03 3.27899947e+02] [ 8.79014216e-01 4.76676417e-01 -1.06583991e-02 1.73092045e+02] [ 1.20130673e-02 2.05533189e-04 9.99927819e-01 4.53913690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16028169299994 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:327.92, Y:173.14, Z:4.55 [[ 4.71430866e-01 -8.81885601e-01 -5.54302138e-03 3.27920751e+02] [ 8.81821185e-01 4.71463432e-01 -1.06597812e-02 1.73143173e+02] [ 1.20140394e-02 1.37396181e-04 9.99927819e-01 4.54703153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22028169299995 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:327.95, Y:173.19, Z:4.54 [[ 4.70362040e-01 -8.82456150e-01 -5.54027953e-03 3.27945509e+02] [ 8.82391756e-01 4.70394651e-01 -1.06612060e-02 1.73192418e+02] [ 1.20141647e-02 1.25929619e-04 9.99927819e-01 4.54375168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28028169299995 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:327.97, Y:173.24, Z:4.54 [[ 4.69977466e-01 -8.82661043e-01 -5.53753924e-03 3.27971137e+02] [ 8.82596647e-01 4.70010071e-01 -1.06626291e-02 1.73241305e+02] [ 1.20141866e-02 1.23781862e-04 9.99927819e-01 4.54214154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34028169299995 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:328.00, Y:173.29, Z:4.54 [[ 4.68833271e-01 -8.83269342e-01 -5.53477107e-03 3.27998106e+02] [ 8.83204971e-01 4.68865927e-01 -1.06640659e-02 1.73289021e+02] [ 1.20143080e-02 1.11331552e-04 9.99927819e-01 4.54370771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40028169299995 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:328.02, Y:173.34, Z:4.55 [[ 4.68692820e-01 -8.83343896e-01 -5.53190143e-03 3.28022849e+02] [ 8.83279513e-01 4.68725451e-01 -1.06655543e-02 1.73338582e+02] [ 1.20142952e-02 1.12653503e-04 9.99927819e-01 4.55081457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46028169299996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:328.05, Y:173.39, Z:4.55 [[ 4.66719144e-01 -8.84388302e-01 -5.52922503e-03 3.28049335e+02] [ 8.84323975e-01 4.66751887e-01 -1.06669416e-02 1.73387764e+02] [ 1.20144946e-02 8.88395885e-05 9.99927819e-01 4.55044059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52028169299996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:328.08, Y:173.44, Z:4.55 [[ 4.65782754e-01 -8.84881847e-01 -5.52651761e-03 3.28077015e+02] [ 8.84817538e-01 4.65815533e-01 -1.06683441e-02 1.73435437e+02] [ 1.20145618e-02 7.91709858e-05 9.99927819e-01 4.54815844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58028169299996 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:328.10, Y:173.48, Z:4.54 [[ 4.69612667e-01 -8.82855272e-01 -5.52374045e-03 3.28102874e+02] [ 8.82790805e-01 4.69645133e-01 -1.06697818e-02 1.73483639e+02] [ 1.20140710e-02 1.34357421e-04 9.99927819e-01 4.54362491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64028169299996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:328.13, Y:173.53, Z:4.55 [[ 4.77695767e-01 -8.78507982e-01 -5.52086041e-03 3.28126993e+02] [ 8.78443202e-01 4.77727605e-01 -1.06712718e-02 1.73531928e+02] [ 1.20122649e-02 2.47859085e-04 9.99927819e-01 4.54803709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70028169299997 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:328.15, Y:173.58, Z:4.55 [[ 4.87080722e-01 -8.73339522e-01 -5.51808262e-03 3.28146447e+02] [ 8.73274389e-01 4.87111830e-01 -1.06727080e-02 1.73583285e+02] [ 1.20088211e-02 3.79670106e-04 9.99927819e-01 4.54762739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76028169299997 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:328.16, Y:173.64, Z:4.55 [[ 4.93234421e-01 -8.69878950e-01 -5.51534988e-03 3.28163133e+02] [ 8.69813583e-01 4.93265034e-01 -1.06741200e-02 1.73636755e+02] [ 1.20057216e-02 4.67517181e-04 9.99927819e-01 4.54578182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.82028169299997 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:328.18, Y:173.69, Z:4.55 [[ 4.94586013e-01 -8.69111204e-01 -5.51271819e-03 3.28182917e+02] [ 8.69045775e-01 4.94616493e-01 -1.06754790e-02 1.73688481e+02] [ 1.20048598e-02 4.89138164e-04 9.99927819e-01 4.54643497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.880281693 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:328.20, Y:173.74, Z:4.55 [[ 4.92382561e-01 -8.70361449e-01 -5.51012345e-03 3.28202411e+02] [ 8.70296082e-01 4.92413175e-01 -1.06768181e-02 1.73741108e+02] [ 1.20059483e-02 4.61640203e-04 9.99927819e-01 4.54600132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.940281693 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:328.22, Y:173.79, Z:4.55 [[ 4.91193093e-01 -8.71033302e-01 -5.50747830e-03 3.28219411e+02] [ 8.70967962e-01 4.91223763e-01 -1.06781824e-02 1.73794548e+02] [ 1.20064567e-02 4.48212295e-04 9.99927819e-01 4.55376430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.000281693 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:328.24, Y:173.85, Z:4.55 [[ 4.92398452e-01 -8.70352491e-01 -5.50497101e-03 3.28238861e+02] [ 8.70287095e-01 4.92429002e-01 -1.06794749e-02 1.73847734e+02] [ 1.20057149e-02 4.67651666e-04 9.99927819e-01 4.55210096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.060281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:328.26, Y:173.90, Z:4.55 [[ 4.92945421e-01 -8.70042835e-01 -5.50248215e-03 3.28257137e+02] [ 8.69977404e-01 4.92975899e-01 -1.06807571e-02 1.73902100e+02] [ 1.20053072e-02 4.77995144e-04 9.99927819e-01 4.55192082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.120281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:328.28, Y:173.95, Z:4.55 [[ 4.91366800e-01 -8.70935369e-01 -5.50001360e-03 3.28278261e+02] [ 8.70869980e-01 4.91397366e-01 -1.06820281e-02 1.73954679e+02] [ 1.20060483e-02 4.58997213e-04 9.99927819e-01 4.55318918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.180281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:328.30, Y:174.01, Z:4.56 [[ 4.86344918e-01 -8.73749620e-01 -5.49754085e-03 3.28296861e+02] [ 8.73684393e-01 4.86375830e-01 -1.06833005e-02 1.74007712e+02] [ 1.20084008e-02 3.92653281e-04 9.99927819e-01 4.55917280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.240281693 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:328.32, Y:174.06, Z:4.56 [[ 4.85563046e-01 -8.74184378e-01 -5.49557967e-03 3.28317438e+02] [ 8.74119168e-01 4.85593993e-01 -1.06843093e-02 1.74060786e+02] [ 1.20086767e-02 3.84114235e-04 9.99927819e-01 4.56394130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.300281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:328.34, Y:174.11, Z:4.56 [[ 4.86115473e-01 -8.73877321e-01 -5.49309761e-03 3.28336839e+02] [ 8.73812077e-01 4.86146348e-01 -1.06855852e-02 1.74113662e+02] [ 1.20083399e-02 3.94493284e-04 9.99927819e-01 4.56215739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36028169299993 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:328.36, Y:174.16, Z:4.56 [[ 4.81702727e-01 -8.76317486e-01 -5.49058356e-03 3.28358544e+02] [ 8.76252384e-01 4.81733899e-01 -1.06868769e-02 1.74164234e+02] [ 1.20100973e-02 3.36760796e-04 9.99927819e-01 4.55843458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42028169299994 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:328.38, Y:174.22, Z:4.55 [[ 4.77765417e-01 -8.78470308e-01 -5.48858850e-03 3.28380062e+02] [ 8.78405335e-01 4.77796857e-01 -1.06879014e-02 1.74216016e+02] [ 1.20114344e-02 2.85104245e-04 9.99927819e-01 4.55367294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48028169299994 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:328.40, Y:174.27, Z:4.56 [[ 4.73459024e-01 -8.80798761e-01 -5.48593604e-03 3.28399625e+02] [ 8.80733926e-01 4.73490750e-01 -1.06892627e-02 1.74268685e+02] [ 1.20126293e-02 2.29277897e-04 9.99927819e-01 4.55837661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54028169299994 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:328.42, Y:174.32, Z:4.56 [[ 4.68997009e-01 -8.83182733e-01 -5.48323487e-03 3.28421851e+02] [ 8.83118044e-01 4.69029030e-01 -1.06906481e-02 1.74320076e+02] [ 1.20135922e-02 1.71538346e-04 9.99927819e-01 4.55721019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60028169299994 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:328.44, Y:174.37, Z:4.56 [[ 4.68245609e-01 -8.83581356e-01 -5.48053859e-03 3.28443612e+02] [ 8.83516678e-01 4.68277653e-01 -1.06920302e-02 1.74371938e+02] [ 1.20136923e-02 1.64348940e-04 9.99927819e-01 4.56098203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66028169299994 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:328.46, Y:174.42, Z:4.57 [[ 4.68406245e-01 -8.83496226e-01 -5.47801309e-03 3.28463220e+02] [ 8.83431527e-01 4.68438246e-01 -1.06933240e-02 1.74423301e+02] [ 1.20136222e-02 1.69370259e-04 9.99927820e-01 4.56735091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72028169299995 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:328.48, Y:174.48, Z:4.56 [[ 4.71502672e-01 -8.81847636e-01 -5.47514128e-03 3.28479842e+02] [ 8.81782808e-01 4.71534411e-01 -1.06947942e-02 1.74477648e+02] [ 1.20128965e-02 2.14738571e-04 9.99927820e-01 4.56405942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78028169299995 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:328.50, Y:174.53, Z:4.57 [[ 4.72837490e-01 -8.81132657e-01 -5.47261103e-03 3.28496115e+02] [ 8.81067766e-01 4.72869100e-01 -1.06960888e-02 1.74531113e+02] [ 1.20125018e-02 2.35770588e-04 9.99927820e-01 4.56623932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84028169299995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:328.51, Y:174.59, Z:4.56 [[ 4.71134841e-01 -8.82044240e-01 -5.46998430e-03 3.28512474e+02] [ 8.81979395e-01 4.71166544e-01 -1.06974319e-02 1.74585497e+02] [ 1.20128818e-02 2.15519428e-04 9.99927820e-01 4.56288009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90028169299995 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:328.53, Y:174.64, Z:4.56 [[ 4.66983969e-01 -8.84248880e-01 -5.46727735e-03 3.28529439e+02] [ 8.84184168e-01 4.67015945e-01 -1.06988152e-02 1.74637686e+02] [ 1.20137210e-02 1.62095120e-04 9.99927820e-01 4.56344933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96028169299996 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:328.55, Y:174.69, Z:4.57 [[ 4.57877074e-01 -8.88998720e-01 -5.46446919e-03 3.28552848e+02] [ 8.88934323e-01 4.57909678e-01 -1.07002493e-02 1.74687529e+02] [ 1.20147413e-02 4.18446148e-05 9.99927820e-01 4.56961481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02028169299996 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:328.58, Y:174.74, Z:4.57 [[ 4.49201642e-01 -8.93413707e-01 -5.46194704e-03 3.28579956e+02] [ 8.93349615e-01 4.49234842e-01 -1.07015366e-02 1.74735832e+02] [ 1.20145964e-02 -7.22804867e-05 9.99927820e-01 4.57138339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08028169299996 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:328.61, Y:174.78, Z:4.57 [[ 4.38172201e-01 -8.98874473e-01 -5.45934473e-03 3.28611836e+02] [ 8.98810778e-01 4.38206155e-01 -1.07028640e-02 1.74782753e+02] [ 1.20128497e-02 -2.17220430e-04 9.99927820e-01 4.56882250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14028169299996 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:328.64, Y:174.83, Z:4.57 [[ 4.36398602e-01 -8.99736896e-01 -5.45684422e-03 3.28638361e+02] [ 8.99673252e-01 4.36432653e-01 -1.07041387e-02 1.74832220e+02] [ 1.20124535e-02 -2.38105618e-04 9.99927820e-01 4.56808137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20028169299997 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:328.67, Y:174.88, Z:4.57 [[ 4.37636555e-01 -8.99135416e-01 -5.45432174e-03 3.28666428e+02] [ 8.99071709e-01 4.37670488e-01 -1.07054239e-02 1.74881327e+02] [ 1.20128214e-02 -2.18741535e-04 9.99927820e-01 4.57218824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26028169299997 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:328.69, Y:174.93, Z:4.58 [[ 4.43078355e-01 -8.96466312e-01 -5.45181969e-03 3.28691523e+02] [ 8.96402385e-01 4.43111871e-01 -1.07066979e-02 1.74930010e+02] [ 1.20139600e-02 -1.43118085e-04 9.99927820e-01 4.57538643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.32028169299997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:328.72, Y:174.98, Z:4.57 [[ 4.46267079e-01 -8.94883233e-01 -5.44920670e-03 3.28715038e+02] [ 8.94819171e-01 4.46300336e-01 -1.07080276e-02 1.74980937e+02] [ 1.20144172e-02 -9.74144087e-05 9.99927820e-01 4.57417570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.380281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:328.74, Y:175.03, Z:4.58 [[ 4.48757452e-01 -8.93636997e-01 -5.44672271e-03 3.28735313e+02] [ 8.93572827e-01 4.48790501e-01 -1.07092910e-02 1.75033284e+02] [ 1.20146560e-02 -6.11692728e-05 9.99927820e-01 4.57926839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.440281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:328.75, Y:175.09, Z:4.58 [[ 4.50766781e-01 -8.92625156e-01 -5.44422599e-03 3.28754886e+02] [ 8.92560897e-01 4.50799656e-01 -1.07105601e-02 1.75085140e+02] [ 1.20147706e-02 -3.13385399e-05 9.99927820e-01 4.58168579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.500281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:328.77, Y:175.14, Z:4.57 [[ 4.52428799e-01 -8.91783926e-01 -5.44162541e-03 3.28772720e+02] [ 8.91719589e-01 4.52461523e-01 -1.07118812e-02 1.75139187e+02] [ 1.20148096e-02 -6.04043895e-06 9.99927820e-01 4.57380133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.560281693 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:328.79, Y:175.19, Z:4.57 [[ 4.50309748e-01 -8.92855838e-01 -5.43910791e-03 3.28793757e+02] [ 8.92791564e-01 4.50342594e-01 -1.07131593e-02 1.75191532e+02] [ 1.20147688e-02 -3.17495809e-05 9.99927820e-01 4.57297509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.620281693 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:328.82, Y:175.24, Z:4.57 [[ 4.40855113e-01 -8.97561816e-01 -5.43656873e-03 3.28821218e+02] [ 8.97497876e-01 4.40888606e-01 -1.07144477e-02 1.75240473e+02] [ 1.20138003e-02 -1.55789833e-04 9.99927820e-01 4.57414003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.680281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:328.85, Y:175.29, Z:4.58 [[ 4.33101724e-01 -9.01328668e-01 -5.43400136e-03 3.28850384e+02] [ 9.01265004e-01 4.33135736e-01 -1.07157496e-02 1.75287395e+02] [ 1.20120725e-02 -2.56465613e-04 9.99927820e-01 4.57666176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.740281693 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:328.89, Y:175.33, Z:4.58 [[ 4.27098211e-01 -9.04188925e-01 -5.43198111e-03 3.28885038e+02] [ 9.04125475e-01 4.27132621e-01 -1.07167736e-02 1.75331642e+02] [ 1.20101644e-02 -3.34077659e-04 9.99927820e-01 4.57760683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.800281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:328.92, Y:175.38, Z:4.58 [[ 4.24312589e-01 -9.05499503e-01 -5.42929471e-03 3.28918644e+02] [ 9.05436142e-01 4.24347163e-01 -1.07181344e-02 1.75376478e+02] [ 1.20091712e-02 -3.68040289e-04 9.99927820e-01 4.57720711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86028169299993 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:328.96, Y:175.42, Z:4.58 [[ 4.22674055e-01 -9.06265521e-01 -5.42662656e-03 3.28956743e+02] [ 9.06202205e-01 4.22708713e-01 -1.07194852e-02 1.75420438e+02] [ 1.20085821e-02 -3.86772695e-04 9.99927820e-01 4.58051716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92028169299994 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:328.99, Y:175.46, Z:4.58 [[ 4.23365391e-01 -9.05942783e-01 -5.42402946e-03 3.28991546e+02] [ 9.05879424e-01 4.23399969e-01 -1.07207991e-02 1.75464565e+02] [ 1.20089645e-02 -3.74701366e-04 9.99927820e-01 4.58497144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98028169299994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:329.02, Y:175.51, Z:4.58 [[ 4.28902202e-01 -9.03334661e-01 -5.42133001e-03 3.29023369e+02] [ 9.03271075e-01 4.28936360e-01 -1.07221640e-02 1.75509780e+02] [ 1.20111080e-02 -2.98170827e-04 9.99927820e-01 4.58492326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04028169299994 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:329.06, Y:175.55, Z:4.59 [[ 4.35243633e-01 -9.00296406e-01 -5.41856580e-03 3.29055334e+02] [ 9.00232563e-01 4.35277310e-01 -1.07235608e-02 1.75554461e+02] [ 1.20129620e-02 -2.10607831e-04 9.99927820e-01 4.58953455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:329.08, Y:175.60, Z:4.59 [[ 4.37795546e-01 -8.99058246e-01 -5.41582883e-03 3.29083606e+02] [ 8.98994291e-01 4.37829009e-01 -1.07249429e-02 1.75602459e+02] [ 1.20135553e-02 -1.73466993e-04 9.99927820e-01 4.58998560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16028169299994 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:329.11, Y:175.65, Z:4.59 [[ 4.41607496e-01 -8.97192018e-01 -5.41319189e-03 3.29112518e+02] [ 8.97127905e-01 4.41640656e-01 -1.07262736e-02 1.75650637e+02] [ 1.20142127e-02 -1.19522653e-04 9.99927820e-01 4.58544938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:329.14, Y:175.70, Z:4.59 [[ 4.47511531e-01 -8.94261793e-01 -5.41061972e-03 3.29137292e+02] [ 8.94197448e-01 4.47544237e-01 -1.07275709e-02 1.75699972e+02] [ 1.20147485e-02 -3.74506452e-05 9.99927820e-01 4.58773454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.16, Y:175.75, Z:4.59 [[ 4.51012176e-01 -8.92501413e-01 -5.40793734e-03 3.29160193e+02] [ 8.92436923e-01 4.51044597e-01 -1.07289230e-02 1.75750130e+02] [ 1.20147999e-02 1.26319541e-05 9.99927820e-01 4.58908765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:329.18, Y:175.80, Z:4.59 [[ 4.50063860e-01 -8.92980015e-01 -5.40514189e-03 3.29182314e+02] [ 8.92915543e-01 4.50096316e-01 -1.07303311e-02 1.75801547e+02] [ 1.20148057e-02 2.99904600e-06 9.99927820e-01 4.58936785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:329.20, Y:175.85, Z:4.59 [[ 4.47396239e-01 -8.94319529e-01 -5.40237115e-03 3.29204749e+02] [ 8.94255137e-01 4.47428854e-01 -1.07317259e-02 1.75851014e+02] [ 1.20147688e-02 -2.97643308e-05 9.99927820e-01 4.58776933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46028169299996 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:329.23, Y:175.90, Z:4.60 [[ 4.43588195e-01 -8.96214460e-01 -5.39948903e-03 3.29227676e+02] [ 8.96150191e-01 4.43621049e-01 -1.07331758e-02 1.75901659e+02] [ 1.20145544e-02 -7.76430305e-05 9.99927820e-01 4.59614249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52028169299996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:329.25, Y:175.95, Z:4.59 [[ 4.41946491e-01 -8.97025180e-01 -5.39680503e-03 3.29252833e+02] [ 8.96960954e-01 4.41979431e-01 -1.07345252e-02 1.75951466e+02] [ 1.20144162e-02 -9.66376334e-05 9.99927820e-01 4.59205113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:329.28, Y:176.00, Z:4.59 [[ 4.42131731e-01 -8.96933909e-01 -5.39404836e-03 3.29278466e+02] [ 8.96869659e-01 4.42164624e-01 -1.07359103e-02 1.76001094e+02] [ 1.20144593e-02 -9.10717256e-05 9.99927820e-01 4.58951437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:329.30, Y:176.05, Z:4.60 [[ 4.42832828e-01 -8.96587988e-01 -5.39126816e-03 3.29303893e+02] [ 8.96523696e-01 4.42865637e-01 -1.07373062e-02 1.76049038e+02] [ 1.20145472e-02 -7.85679822e-05 9.99927820e-01 4.59501803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70028169299997 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:329.33, Y:176.10, Z:4.59 [[ 4.42229426e-01 -8.96885779e-01 -5.38839110e-03 3.29327543e+02] [ 8.96821491e-01 4.42262245e-01 -1.07387498e-02 1.76099164e+02] [ 1.20145140e-02 -8.34337661e-05 9.99927820e-01 4.59161121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76028169299997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:329.35, Y:176.15, Z:4.59 [[ 4.42780297e-01 -8.96613966e-01 -5.38562756e-03 3.29348604e+02] [ 8.96549641e-01 4.42813043e-01 -1.07401356e-02 1.76149374e+02] [ 1.20145817e-02 -7.29620148e-05 9.99927820e-01 4.59098895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.82028169299997 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:329.37, Y:176.20, Z:4.60 [[ 4.43317423e-01 -8.96348527e-01 -5.38328671e-03 3.29369388e+02] [ 8.96284168e-01 4.43350103e-01 -1.07413088e-02 1.76199734e+02] [ 1.20146370e-02 -6.31453184e-05 9.99927820e-01 4.59651760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.880281693 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:329.39, Y:176.25, Z:4.59 [[ 4.40366412e-01 -8.97802023e-01 -5.38052754e-03 3.29392287e+02] [ 8.97737756e-01 4.40399270e-01 -1.07426907e-02 1.76250893e+02] [ 1.20143899e-02 -9.95825501e-05 9.99927820e-01 4.59249876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.940281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:329.41, Y:176.30, Z:4.59 [[ 4.36355346e-01 -8.99758352e-01 -5.37774450e-03 3.29413191e+02] [ 8.99694214e-01 4.36388457e-01 -1.07440837e-02 1.76301868e+02] [ 1.20138647e-02 -1.50087239e-04 9.99927820e-01 4.59030241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.000281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:329.44, Y:176.35, Z:4.60 [[ 4.33927096e-01 -9.00931954e-01 -5.37487075e-03 3.29435496e+02] [ 9.00867888e-01 4.33960345e-01 -1.07455212e-02 1.76352957e+02] [ 1.20134642e-02 -1.79275669e-04 9.99927820e-01 4.59729511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.060281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:329.46, Y:176.40, Z:4.59 [[ 4.28632922e-01 -9.03462760e-01 -5.37210546e-03 3.29460357e+02] [ 9.03398873e-01 4.28666515e-01 -1.07469035e-02 1.76401039e+02] [ 1.20122688e-02 -2.46677385e-04 9.99927820e-01 4.59221757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.120281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:329.49, Y:176.45, Z:4.59 [[ 4.26161715e-01 -9.04631065e-01 -5.36923295e-03 3.29486383e+02] [ 9.04567252e-01 4.26195448e-01 -1.07483384e-02 1.76450133e+02] [ 1.20116235e-02 -2.76301962e-04 9.99927820e-01 4.59287630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.180281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:329.51, Y:176.50, Z:4.60 [[ 4.21896817e-01 -9.06627971e-01 -5.36643838e-03 3.29512262e+02] [ 9.06564299e-01 4.21930817e-01 -1.07497335e-02 1.76498360e+02] [ 1.20102748e-02 -3.29743104e-04 9.99927820e-01 4.59798128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.240281693 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:329.54, Y:176.55, Z:4.60 [[ 4.18144344e-01 -9.08364758e-01 -5.36408013e-03 3.29540491e+02] [ 9.08301213e-01 4.18178579e-01 -1.07509101e-02 1.76546576e+02] [ 1.20088913e-02 -3.76768222e-04 9.99927820e-01 4.59734063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.300281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:329.57, Y:176.59, Z:4.60 [[ 4.17393637e-01 -9.08709969e-01 -5.36133744e-03 3.29570024e+02] [ 9.08646435e-01 4.17427892e-01 -1.07522777e-02 1.76592959e+02] [ 1.20086737e-02 -3.83627854e-04 9.99927820e-01 4.59707246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36028169299993 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:329.60, Y:176.64, Z:4.59 [[ 4.20519022e-01 -9.07267895e-01 -5.35901642e-03 3.29600219e+02] [ 9.07204229e-01 4.20553030e-01 -1.07534344e-02 1.76639213e+02] [ 1.20099964e-02 -3.39698656e-04 9.99927820e-01 4.59460642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42028169299994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:329.63, Y:176.69, Z:4.60 [[ 4.25311500e-01 -9.05031181e-01 -5.35626588e-03 3.29627092e+02] [ 9.04967318e-01 4.25345138e-01 -1.07548043e-02 1.76688083e+02] [ 1.20116948e-02 -2.73103642e-04 9.99927820e-01 4.59894875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48028169299994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:329.66, Y:176.74, Z:4.60 [[ 4.29340856e-01 -9.03126663e-01 -5.35350454e-03 3.29655753e+02] [ 9.03062634e-01 4.29374177e-01 -1.07561786e-02 1.76736037e+02] [ 1.20128483e-02 -2.16482973e-04 9.99927820e-01 4.59787063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54028169299994 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:329.68, Y:176.78, Z:4.60 [[ 4.29380818e-01 -9.03107680e-01 -5.35074584e-03 3.29682990e+02] [ 9.03043633e-01 4.29414103e-01 -1.07575508e-02 1.76784866e+02] [ 1.20129125e-02 -2.12871008e-04 9.99927820e-01 4.59627683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60028169299994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:329.71, Y:176.83, Z:4.60 [[ 4.30790375e-01 -9.02436176e-01 -5.34800578e-03 3.29712964e+02] [ 9.02372060e-01 4.30823527e-01 -1.07589128e-02 1.76831026e+02] [ 1.20132788e-02 -1.91054919e-04 9.99927820e-01 4.60037110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66028169299994 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:329.74, Y:176.88, Z:4.60 [[ 4.35332675e-01 -9.00253793e-01 -5.34515647e-03 3.29738062e+02] [ 9.00189493e-01 4.35365470e-01 -1.07603282e-02 1.76879575e+02] [ 1.20141228e-02 -1.27331242e-04 9.99927820e-01 4.60137647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72028169299995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:329.76, Y:176.93, Z:4.60 [[ 4.41665346e-01 -8.97163966e-01 -5.34236464e-03 3.29759578e+02] [ 8.97099420e-01 4.41697653e-01 -1.07617141e-02 1.76930919e+02] [ 1.20147320e-02 -3.95560340e-05 9.99927820e-01 4.59916271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78028169299995 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:329.78, Y:176.98, Z:4.60 [[ 4.45075850e-01 -8.95476954e-01 -5.33970225e-03 3.29779663e+02] [ 8.95412270e-01 4.45107879e-01 -1.07630350e-02 1.76981891e+02] [ 1.20147933e-02 9.13201911e-06 9.99927820e-01 4.60287168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84028169299995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:329.80, Y:177.04, Z:4.60 [[ 4.46665583e-01 -8.94685070e-01 -5.33693514e-03 3.29799657e+02] [ 8.94620312e-01 4.46697465e-01 -1.07644069e-02 1.77035312e+02] [ 1.20147495e-02 3.35594959e-05 9.99927820e-01 4.60444664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90028169299995 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:329.82, Y:177.09, Z:4.61 [[ 4.45540535e-01 -8.95245875e-01 -5.33431788e-03 3.29821140e+02] [ 8.95181142e-01 4.45572467e-01 -1.07657037e-02 1.77087858e+02] [ 1.20147770e-02 2.13766219e-05 9.99927820e-01 4.60513857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96028169299996 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:329.84, Y:177.14, Z:4.61 [[ 4.43387502e-01 -8.96314173e-01 -5.33171581e-03 3.29842596e+02] [ 8.96249501e-01 4.43419557e-01 -1.07669922e-02 1.77138344e+02] [ 1.20147948e-02 -4.59784503e-06 9.99927820e-01 4.60864780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02028169299996 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:329.87, Y:177.19, Z:4.61 [[ 4.41255744e-01 -8.97365574e-01 -5.32876037e-03 3.29866492e+02] [ 8.97300961e-01 4.41287918e-01 -1.07684547e-02 1.77188787e+02] [ 1.20147581e-02 -2.98592991e-05 9.99927820e-01 4.60987586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08028169299996 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:329.89, Y:177.24, Z:4.60 [[ 4.41123611e-01 -8.97430551e-01 -5.32596223e-03 3.29889119e+02] [ 8.97365926e-01 4.41155761e-01 -1.07698385e-02 1.77238104e+02] [ 1.20147610e-02 -2.85069861e-05 9.99927820e-01 4.60469128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14028169299996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:329.91, Y:177.29, Z:4.61 [[ 4.40560151e-01 -8.97707309e-01 -5.32360072e-03 3.29911781e+02] [ 8.97642690e-01 4.40592313e-01 -1.07710057e-02 1.77289996e+02] [ 1.20147481e-02 -3.34153875e-05 9.99927820e-01 4.61082292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20028169299997 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:329.93, Y:177.34, Z:4.61 [[ 4.39471614e-01 -8.98240718e-01 -5.32102119e-03 3.29932834e+02] [ 8.98176123e-01 4.39503824e-01 -1.07722798e-02 1.77341762e+02] [ 1.20147095e-02 -4.51029690e-05 9.99927820e-01 4.60648964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26028169299997 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:329.95, Y:177.39, Z:4.61 [[ 4.37413711e-01 -8.99244662e-01 -5.31820515e-03 3.29952781e+02] [ 8.99180124e-01 4.37446034e-01 -1.07736699e-02 1.77394193e+02] [ 1.20145929e-02 -6.94734263e-05 9.99927820e-01 4.60598183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32028169299997 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:329.97, Y:177.45, Z:4.61 [[ 4.35929281e-01 -8.99965226e-01 -5.31539949e-03 3.29973934e+02] [ 8.99900724e-01 4.35961678e-01 -1.07750540e-02 1.77446034e+02] [ 1.20144844e-02 -8.61703180e-05 9.99927820e-01 4.60750091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.380281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:329.99, Y:177.50, Z:4.61 [[ 4.36323134e-01 -8.99774360e-01 -5.31261720e-03 3.29993824e+02] [ 8.99709827e-01 4.36355469e-01 -1.07764256e-02 1.77496640e+02] [ 1.20145410e-02 -7.78101159e-05 9.99927820e-01 4.60910636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.440281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:330.01, Y:177.55, Z:4.61 [[ 4.36942382e-01 -8.99473825e-01 -5.30974247e-03 3.30014985e+02] [ 8.99409253e-01 4.36974638e-01 -1.07778418e-02 1.77547043e+02] [ 1.20146094e-02 -6.63356247e-05 9.99927820e-01 4.60983971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.500281693 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:330.04, Y:177.60, Z:4.61 [[ 4.36131708e-01 -8.99867196e-01 -5.30691687e-03 3.30035746e+02] [ 8.99802636e-01 4.36163988e-01 -1.07792330e-02 1.77598765e+02] [ 1.20145642e-02 -7.40125099e-05 9.99927820e-01 4.61052103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.560281693 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:330.06, Y:177.65, Z:4.61 [[ 4.35471505e-01 -9.00186889e-01 -5.30411934e-03 3.30055833e+02] [ 9.00122336e-01 4.35503799e-01 -1.07806094e-02 1.77649614e+02] [ 1.20145273e-02 -7.97080974e-05 9.99927820e-01 4.61401655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.620281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:330.08, Y:177.70, Z:4.61 [[ 4.31678624e-01 -9.02011897e-01 -5.30123069e-03 3.30075059e+02] [ 9.01947463e-01 4.31711155e-01 -1.07820296e-02 1.77702048e+02] [ 1.20141194e-02 -1.27059860e-04 9.99927820e-01 4.61453445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.680281693 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:330.10, Y:177.75, Z:4.61 [[ 4.29411083e-01 -9.03093598e-01 -5.29860612e-03 3.30095222e+02] [ 9.03029230e-01 4.29443744e-01 -1.07833193e-02 1.77754365e+02] [ 1.20137998e-02 -1.54319403e-04 9.99927820e-01 4.61367499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.740281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:330.11, Y:177.81, Z:4.62 [[ 4.27290922e-01 -9.04098679e-01 -5.29596639e-03 3.30114574e+02] [ 9.04034372e-01 4.27323703e-01 -1.07846156e-02 1.77806797e+02] [ 1.20134486e-02 -1.79567326e-04 9.99927820e-01 4.61503161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.800281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:330.14, Y:177.86, Z:4.62 [[ 4.20861433e-01 -9.07109495e-01 -5.29327238e-03 3.30138248e+02] [ 9.07045406e-01 4.20894637e-01 -1.07859377e-02 1.77857880e+02] [ 1.20119364e-02 -2.61853218e-04 9.99927820e-01 4.61544474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86028169299993 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:330.16, Y:177.91, Z:4.61 [[ 4.15173193e-01 -9.09727007e-01 -5.29071452e-03 3.30164345e+02] [ 9.09663111e-01 4.15206768e-01 -1.07871922e-02 1.77907730e+02] [ 1.20101405e-02 -3.34214807e-04 9.99927820e-01 4.61039863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92028169299994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:330.19, Y:177.96, Z:4.61 [[ 4.08734734e-01 -9.12637909e-01 -5.28819113e-03 3.30193496e+02] [ 9.12574236e-01 4.08768729e-01 -1.07884291e-02 1.77955699e+02] [ 1.20075765e-02 -4.16261286e-04 9.99927820e-01 4.60793947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:330.22, Y:178.00, Z:4.61 [[ 4.08181388e-01 -9.12885544e-01 -5.28559694e-03 3.30220158e+02] [ 9.12821876e-01 4.08215391e-01 -1.07896999e-02 1.78004118e+02] [ 1.20074231e-02 -4.20653826e-04 9.99927820e-01 4.60903684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04028169299994 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:330.25, Y:178.05, Z:4.62 [[ 4.09604633e-01 -9.12247848e-01 -5.28291315e-03 3.30253093e+02] [ 9.12184109e-01 4.09638505e-01 -1.07910138e-02 1.78050875e+02] [ 1.20081638e-02 -3.98940184e-04 9.99927820e-01 4.61642929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10028169299994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:330.29, Y:178.10, Z:4.61 [[ 4.09449903e-01 -9.12317321e-01 -5.28036744e-03 3.30285393e+02] [ 9.12253573e-01 4.09483756e-01 -1.07922594e-02 1.78096451e+02] [ 1.20081898e-02 -3.98144525e-04 9.99927820e-01 4.61050067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:330.31, Y:178.14, Z:4.61 [[ 4.10309792e-01 -9.11930930e-01 -5.27757659e-03 3.30313636e+02] [ 9.11867132e-01 4.10343553e-01 -1.07936239e-02 1.78142951e+02] [ 1.20086591e-02 -3.83719027e-04 9.99927820e-01 4.61003356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22028169299995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:330.34, Y:178.19, Z:4.62 [[ 4.15703928e-01 -9.09484701e-01 -5.27468959e-03 3.30342949e+02] [ 9.09420686e-01 4.15737276e-01 -1.07950346e-02 1.78191319e+02] [ 1.20108039e-02 -3.09373543e-04 9.99927820e-01 4.61718436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:330.37, Y:178.24, Z:4.62 [[ 4.21213475e-01 -9.06946202e-01 -5.27213141e-03 3.30371235e+02] [ 9.06881970e-01 4.21246403e-01 -1.07962838e-02 1.78238281e+02] [ 1.20125150e-02 -2.33660695e-04 9.99927820e-01 4.61710887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34028169299995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:330.40, Y:178.29, Z:4.62 [[ 4.22690929e-01 -9.06258580e-01 -5.26920587e-03 3.30400125e+02] [ 9.06194277e-01 4.22723717e-01 -1.07977115e-02 1.78285433e+02] [ 1.20129370e-02 -2.10829518e-04 9.99927820e-01 4.61822654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40028169299995 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:330.43, Y:178.33, Z:4.62 [[ 4.25836639e-01 -9.04784738e-01 -5.26641970e-03 3.30428775e+02] [ 9.04720304e-01 4.25869171e-01 -1.07990702e-02 1.78331651e+02] [ 1.20136397e-02 -1.65997060e-04 9.99927820e-01 4.61720239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46028169299996 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:330.46, Y:178.38, Z:4.61 [[ 4.28296631e-01 -9.03622870e-01 -5.26354148e-03 3.30455515e+02] [ 9.03558331e-01 4.28328953e-01 -1.08004729e-02 1.78380044e+02] [ 1.20140815e-02 -1.30110599e-04 9.99927820e-01 4.61292986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52028169299996 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:330.48, Y:178.43, Z:4.61 [[ 4.32093513e-01 -9.01813462e-01 -5.26087000e-03 3.30484123e+02] [ 9.01748771e-01 4.32125531e-01 -1.08017740e-02 1.78427473e+02] [ 1.20145415e-02 -7.66065860e-05 9.99927820e-01 4.61133329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58028169299996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:330.51, Y:178.48, Z:4.62 [[ 4.37017486e-01 -8.99437640e-01 -5.25815893e-03 3.30509564e+02] [ 8.99372760e-01 4.37049118e-01 -1.08030936e-02 1.78476377e+02] [ 1.20147827e-02 -7.90412459e-06 9.99927820e-01 4.61766672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64028169299996 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:330.53, Y:178.53, Z:4.62 [[ 4.42639121e-01 -8.96684441e-01 -5.25559163e-03 3.30532708e+02] [ 8.96619350e-01 4.42670315e-01 -1.08043424e-02 1.78526615e+02] [ 1.20145801e-02 7.01594715e-05 9.99927820e-01 4.62045284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70028169299997 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:330.55, Y:178.58, Z:4.62 [[ 4.44989295e-01 -8.95520483e-01 -5.25275434e-03 3.30554315e+02] [ 8.95455294e-01 4.45020284e-01 -1.08057216e-02 1.78578857e+02] [ 1.20143273e-02 1.04823768e-04 9.99927820e-01 4.62499440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76028169299997 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:330.58, Y:178.63, Z:4.62 [[ 4.45267554e-01 -8.95382176e-01 -5.25013048e-03 3.30576273e+02] [ 8.95316962e-01 4.45298491e-01 -1.08069963e-02 1.78628845e+02] [ 1.20142671e-02 1.11473929e-04 9.99927820e-01 4.62305517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82028169299997 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:330.60, Y:178.68, Z:4.62 [[ 4.44789203e-01 -8.95619915e-01 -5.24714381e-03 3.30597737e+02] [ 8.95554701e-01 4.44820138e-01 -1.08084462e-02 1.78678836e+02] [ 1.20142949e-02 1.08375878e-04 9.99927820e-01 4.62239396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.880281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.62, Y:178.73, Z:4.62 [[ 4.43380538e-01 -8.96318134e-01 -5.24421703e-03 3.30617971e+02] [ 8.96252951e-01 4.43411541e-01 -1.08098661e-02 1.78730467e+02] [ 1.20144254e-02 9.27392681e-05 9.99927820e-01 4.62207272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.940281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:330.64, Y:178.78, Z:4.63 [[ 4.40727776e-01 -8.97625510e-01 -5.24137941e-03 3.30639997e+02] [ 8.97560403e-01 4.40758937e-01 -1.08112418e-02 1.78781885e+02] [ 1.20146313e-02 6.03599472e-05 9.99927820e-01 4.62756436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.000281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:330.66, Y:178.83, Z:4.63 [[ 4.39732966e-01 -8.98113287e-01 -5.23854402e-03 3.30662588e+02] [ 8.98048198e-01 4.39764166e-01 -1.08126155e-02 1.78832188e+02] [ 1.20146776e-02 5.01984784e-05 9.99927820e-01 4.62819269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.060281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:330.68, Y:178.88, Z:4.63 [[ 4.39828452e-01 -8.98066546e-01 -5.23571084e-03 3.30683200e+02] [ 8.98001437e-01 4.39859610e-01 -1.08139872e-02 1.78884144e+02] [ 1.20146579e-02 5.46233981e-05 9.99927820e-01 4.63090446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.120281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:330.71, Y:178.93, Z:4.63 [[ 4.40225206e-01 -8.97872143e-01 -5.23289668e-03 3.30705532e+02] [ 8.97807004e-01 4.40256301e-01 -1.08153488e-02 1.78934603e+02] [ 1.20146162e-02 6.30578697e-05 9.99927820e-01 4.62754517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.180281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:330.73, Y:178.98, Z:4.62 [[ 4.41091225e-01 -8.97447033e-01 -5.23009176e-03 3.30726186e+02] [ 8.97381849e-01 4.41122224e-01 -1.08167051e-02 1.78984963e+02] [ 1.20145296e-02 7.77642772e-05 9.99927820e-01 4.62209317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.240281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:330.75, Y:179.04, Z:4.62 [[ 4.42380931e-01 -8.96812014e-01 -5.22719287e-03 3.30746994e+02] [ 8.96746768e-01 4.42411802e-01 -1.08181058e-02 1.79036556e+02] [ 1.20143790e-02 9.82553950e-05 9.99927820e-01 4.62295659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.300281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:330.77, Y:179.09, Z:4.63 [[ 4.44675671e-01 -8.95676422e-01 -5.22445247e-03 3.30765861e+02] [ 8.95611082e-01 4.44706341e-01 -1.08194291e-02 1.79088945e+02] [ 1.20140546e-02 1.32059352e-04 9.99927820e-01 4.62679602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36028169299993 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:330.78, Y:179.14, Z:4.63 [[ 4.49199471e-01 -8.93416235e-01 -5.22171309e-03 3.30778638e+02] [ 8.93350726e-01 4.49229777e-01 -1.08207510e-02 1.79142921e+02] [ 1.20131836e-02 1.95854432e-04 9.99927820e-01 4.62725348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42028169299994 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:330.79, Y:179.20, Z:4.63 [[ 4.51051797e-01 -8.92482515e-01 -5.21888665e-03 3.30793216e+02] [ 8.92416927e-01 4.51081933e-01 -1.08221140e-02 1.79197989e+02] [ 1.20126930e-02 2.23911193e-04 9.99927820e-01 4.62703154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48028169299994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:330.80, Y:179.26, Z:4.63 [[ 4.49558343e-01 -8.93235740e-01 -5.21621571e-03 3.30802104e+02] [ 8.93170188e-01 4.49588556e-01 -1.08234012e-02 1.79255713e+02] [ 1.20129997e-02 2.06781965e-04 9.99927820e-01 4.62669596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54028169299994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:330.82, Y:179.31, Z:4.63 [[ 4.44185353e-01 -8.95919745e-01 -5.21362699e-03 3.30818263e+02] [ 8.95854361e-01 4.44215928e-01 -1.08246481e-02 1.79309432e+02] [ 1.20139921e-02 1.37499662e-04 9.99927820e-01 4.62849256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60028169299994 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:330.83, Y:179.36, Z:4.63 [[ 4.34027089e-01 -9.00884750e-01 -5.21093643e-03 3.30834576e+02] [ 9.00819700e-01 4.34058369e-01 -1.08259432e-02 1.79363322e+02] [ 1.20147777e-02 4.63839931e-06 9.99927820e-01 4.63249800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66028169299994 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:330.86, Y:179.42, Z:4.63 [[ 4.29026727e-01 -9.03276780e-01 -5.20823078e-03 3.30855137e+02] [ 9.03211889e-01 4.29058335e-01 -1.08272447e-02 1.79415864e+02] [ 1.20146335e-02 -5.89586166e-05 9.99927820e-01 4.63448952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72028169299995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:330.88, Y:179.47, Z:4.63 [[ 4.25288678e-01 -9.05042784e-01 -5.20567384e-03 3.30876231e+02] [ 9.04978009e-01 4.25320523e-01 -1.08284739e-02 1.79467707e+02] [ 1.20143121e-02 -1.05793008e-04 9.99927820e-01 4.62750088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.90, Y:179.52, Z:4.62 [[ 4.22647878e-01 -9.06279040e-01 -5.20315561e-03 3.30901213e+02] [ 9.06214343e-01 4.22679882e-01 -1.08296838e-02 1.79516327e+02] [ 1.20139846e-02 -1.38031377e-04 9.99927820e-01 4.62448193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84028169299995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:330.93, Y:179.57, Z:4.63 [[ 4.16017757e-01 -9.09341621e-01 -5.20029400e-03 3.30927774e+02] [ 9.09277142e-01 4.16050198e-01 -1.08310577e-02 1.79565116e+02] [ 1.20127149e-02 -2.22596140e-04 9.99927820e-01 4.62956814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:330.95, Y:179.61, Z:4.63 [[ 4.14064675e-01 -9.10232624e-01 -5.19757795e-03 3.30953588e+02] [ 9.10168199e-01 4.14097222e-01 -1.08323609e-02 1.79613877e+02] [ 1.20122709e-02 -2.45372161e-04 9.99927820e-01 4.63146714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.98, Y:179.66, Z:4.63 [[ 4.12333780e-01 -9.11018039e-01 -5.19487854e-03 3.30982557e+02] [ 9.10953659e-01 4.12366418e-01 -1.08336553e-02 1.79661683e+02] [ 1.20118489e-02 -2.65211569e-04 9.99927820e-01 4.63209448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.02, Y:179.71, Z:4.63 [[ 4.09647663e-01 -9.12229047e-01 -5.19219556e-03 3.31015003e+02] [ 9.12164747e-01 4.09680458e-01 -1.08349410e-02 1.79706753e+02] [ 1.20110890e-02 -2.97629484e-04 9.99927820e-01 4.62989407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08028169299996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:331.05, Y:179.75, Z:4.63 [[ 4.07912833e-01 -9.13006129e-01 -5.18942182e-03 3.31045550e+02] [ 9.12941875e-01 4.07945717e-01 -1.08362694e-02 1.79753492e+02] [ 1.20105827e-02 -3.17387160e-04 9.99927820e-01 4.63433161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14028169299996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:331.08, Y:179.80, Z:4.63 [[ 4.09331862e-01 -9.12370826e-01 -5.18678899e-03 3.31078133e+02] [ 9.12306505e-01 4.09364615e-01 -1.08375294e-02 1.79798926e+02] [ 1.20111335e-02 -2.95795248e-04 9.99927820e-01 4.63153200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20028169299997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:331.11, Y:179.85, Z:4.63 [[ 4.12332308e-01 -9.11018767e-01 -5.18400643e-03 3.31108291e+02] [ 9.10954322e-01 4.12364817e-01 -1.08388603e-02 1.79845393e+02] [ 1.20121070e-02 -2.53180787e-04 9.99927820e-01 4.63418714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26028169299997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:331.14, Y:179.89, Z:4.64 [[ 4.18101556e-01 -9.08385516e-01 -5.18109180e-03 3.31140812e+02] [ 9.08320849e-01 4.18133620e-01 -1.08402533e-02 1.79892397e+02] [ 1.20135178e-02 -1.73766936e-04 9.99927820e-01 4.64338542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.32028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.17, Y:179.94, Z:4.64 [[ 4.20687725e-01 -9.07190730e-01 -5.17856294e-03 3.31170986e+02] [ 9.07125957e-01 4.20719575e-01 -1.08414612e-02 1.79939570e+02] [ 1.20139959e-02 -1.36739188e-04 9.99927820e-01 4.64265016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.380281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:331.20, Y:179.98, Z:4.64 [[ 4.21460135e-01 -9.06832160e-01 -5.17575684e-03 3.31204647e+02] [ 9.06767343e-01 4.21491897e-01 -1.08428007e-02 1.79984717e+02] [ 1.20141400e-02 -1.23399025e-04 9.99927820e-01 4.63956118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.440281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:331.24, Y:180.03, Z:4.64 [[ 4.21574983e-01 -9.06778790e-01 -5.17296600e-03 3.31235944e+02] [ 9.06713953e-01 4.21606703e-01 -1.08441320e-02 1.80031364e+02] [ 1.20141861e-02 -1.18785675e-04 9.99927820e-01 4.64182936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.500281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:331.26, Y:180.08, Z:4.65 [[ 4.22595896e-01 -9.06303469e-01 -5.17015615e-03 3.31264415e+02] [ 9.06238580e-01 4.22627509e-01 -1.08454715e-02 1.80079177e+02] [ 1.20143387e-02 -1.02143209e-04 9.99927820e-01 4.64593857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.560281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:331.29, Y:180.13, Z:4.65 [[ 4.24032702e-01 -9.05632136e-01 -5.16737316e-03 3.31293220e+02] [ 9.05567181e-01 4.24064179e-01 -1.08467973e-02 1.80125666e+02] [ 1.20145061e-02 -8.00067683e-05 9.99927820e-01 4.64509166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.620281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:331.32, Y:180.17, Z:4.64 [[ 4.23955902e-01 -9.05668105e-01 -5.16500679e-03 3.31320939e+02] [ 9.05603138e-01 4.23987356e-01 -1.08479240e-02 1.80173043e+02] [ 1.20145164e-02 -7.84049416e-05 9.99927820e-01 4.64297183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.680281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:331.35, Y:180.22, Z:4.64 [[ 4.25925918e-01 -9.04743311e-01 -5.16269885e-03 3.31345108e+02] [ 9.04678263e-01 4.25957203e-01 -1.08490223e-02 1.80222881e+02] [ 1.20146691e-02 -4.97016418e-05 9.99927820e-01 4.64289794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.740281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.37, Y:180.27, Z:4.65 [[ 4.29454071e-01 -9.03073959e-01 -5.16003675e-03 3.31369734e+02] [ 9.03008774e-01 4.29485070e-01 -1.08502883e-02 1.80273026e+02] [ 1.20147716e-02 1.42030412e-07 9.99927820e-01 4.64829112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.800281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.39, Y:180.32, Z:4.65 [[ 4.32240726e-01 -9.01743510e-01 -5.15719371e-03 3.31394542e+02] [ 9.01678214e-01 4.32271489e-01 -1.08516394e-02 1.80322868e+02] [ 1.20147033e-02 4.03912973e-05 9.99927820e-01 4.64706091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86028169299993 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:331.42, Y:180.37, Z:4.64 [[ 4.33913173e-01 -9.00939948e-01 -5.15436576e-03 3.31418365e+02] [ 9.00874579e-01 4.33943781e-01 -1.08529825e-02 1.80372934e+02] [ 1.20145905e-02 6.58149981e-05 9.99927820e-01 4.64431429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.44, Y:180.42, Z:4.65 [[ 4.39987832e-01 -8.97988958e-01 -5.15155273e-03 3.31439966e+02] [ 8.97923368e-01 4.40017964e-01 -1.08543176e-02 1.80424276e+02] [ 1.20138331e-02 1.50068094e-04 9.99927820e-01 4.64751786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.98028169299994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:331.46, Y:180.47, Z:4.65 [[ 4.43239380e-01 -8.96388500e-01 -5.14867816e-03 3.31459914e+02] [ 8.96322786e-01 4.43269239e-01 -1.08556810e-02 1.80474931e+02] [ 1.20131582e-02 1.96787743e-04 9.99927820e-01 4.64963817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.04028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.48, Y:180.53, Z:4.65 [[ 4.46532451e-01 -8.94752643e-01 -5.14571997e-03 3.31479997e+02] [ 8.94686803e-01 4.46562032e-01 -1.08570830e-02 1.80527242e+02] [ 1.20122869e-02 2.44232128e-04 9.99927820e-01 4.65039230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:331.50, Y:180.58, Z:4.65 [[ 4.45098475e-01 -8.95466859e-01 -5.14311745e-03 3.31500848e+02] [ 8.95401053e-01 4.45128130e-01 -1.08583157e-02 1.80578069e+02] [ 1.20126081e-02 2.27866978e-04 9.99927820e-01 4.64975219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16028169299994 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:331.52, Y:180.63, Z:4.65 [[ 4.41360475e-01 -8.97315168e-01 -5.14014720e-03 3.31523765e+02] [ 8.97249469e-01 4.41390368e-01 -1.08597216e-02 1.80627577e+02] [ 1.20134044e-02 1.81057533e-04 9.99927820e-01 4.64897747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:331.55, Y:180.68, Z:4.65 [[ 4.36359324e-01 -8.99757825e-01 -5.13785935e-03 3.31545464e+02] [ 8.99692280e-01 4.36389555e-01 -1.08608039e-02 1.80677263e+02] [ 1.20142014e-02 1.16720646e-04 9.99927820e-01 4.64840475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.57, Y:180.73, Z:4.66 [[ 4.35706062e-01 -9.00074362e-01 -5.13509545e-03 3.31568836e+02] [ 9.00008825e-01 4.35736308e-01 -1.08621105e-02 1.80727538e+02] [ 1.20142547e-02 1.11056191e-04 9.99927820e-01 4.65620726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.59, Y:180.78, Z:4.66 [[ 4.35482929e-01 -9.00182358e-01 -5.13234926e-03 3.31590184e+02] [ 9.00116813e-01 4.35513157e-01 -1.08634080e-02 1.80778538e+02] [ 1.20142538e-02 1.11114853e-04 9.99927820e-01 4.65869227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.61, Y:180.83, Z:4.66 [[ 4.34243862e-01 -9.00780748e-01 -5.12956200e-03 3.31611998e+02] [ 9.00715229e-01 4.34274146e-01 -1.08647239e-02 1.80829872e+02] [ 1.20143703e-02 9.76650507e-05 9.99927820e-01 4.65599024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.63, Y:180.88, Z:4.65 [[ 4.30309588e-01 -9.02666812e-01 -5.12677936e-03 3.31631940e+02] [ 9.02601410e-01 4.30340125e-01 -1.08660368e-02 1.80880997e+02] [ 1.20146697e-02 4.83215403e-05 9.99927820e-01 4.65349341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.65, Y:180.93, Z:4.65 [[ 4.27076681e-01 -9.04200893e-01 -5.12389154e-03 3.31654423e+02] [ 9.04135584e-01 4.27107417e-01 -1.08673984e-02 1.80931373e+02] [ 1.20147634e-02 8.51976085e-06 9.99927820e-01 4.65341279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:331.68, Y:180.98, Z:4.65 [[ 4.23542647e-01 -9.05861689e-01 -5.12112756e-03 3.31676708e+02] [ 9.05796485e-01 4.23573604e-01 -1.08687007e-02 1.80981904e+02] [ 1.20147141e-02 -3.53410714e-05 9.99927820e-01 4.65399075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.70, Y:181.03, Z:4.65 [[ 4.24087620e-01 -9.05606699e-01 -5.11837781e-03 3.31698446e+02] [ 9.05541461e-01 4.24118505e-01 -1.08699955e-02 1.81033147e+02] [ 1.20147395e-02 -2.50728040e-05 9.99927820e-01 4.65472496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70028169299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:331.72, Y:181.08, Z:4.66 [[ 4.25656684e-01 -9.04870277e-01 -5.11561837e-03 3.31720352e+02] [ 9.04804970e-01 4.25687423e-01 -1.08712940e-02 1.81084706e+02] [ 1.20147652e-02 -1.19797477e-06 9.99927820e-01 4.65813409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.74, Y:181.13, Z:4.65 [[ 4.24710664e-01 -9.05314702e-01 -5.11296630e-03 3.31744969e+02] [ 9.05249412e-01 4.24741439e-01 -1.08725412e-02 1.81133688e+02] [ 1.20147600e-02 -1.08255661e-05 9.99927820e-01 4.65452947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.82028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.77, Y:181.18, Z:4.65 [[ 4.23692672e-01 -9.05791592e-01 -5.10995445e-03 3.31768381e+02] [ 9.05726319e-01 4.23723485e-01 -1.08739565e-02 1.81182771e+02] [ 1.20147461e-02 -2.10045557e-05 9.99927820e-01 4.65262063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.880281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.79, Y:181.23, Z:4.65 [[ 4.22906507e-01 -9.06158929e-01 -5.10700788e-03 3.31790709e+02] [ 9.06093666e-01 4.22937341e-01 -1.08753402e-02 1.81232117e+02] [ 1.20147310e-02 -2.81753552e-05 9.99927820e-01 4.65438995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.940281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:331.81, Y:181.28, Z:4.66 [[ 4.23191396e-01 -9.06025933e-01 -5.10414288e-03 3.31814086e+02] [ 9.05960644e-01 4.23222175e-01 -1.08766847e-02 1.81282459e+02] [ 1.20147448e-02 -2.12332029e-05 9.99927820e-01 4.66061079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.000281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.84, Y:181.33, Z:4.66 [[ 4.23532660e-01 -9.05866470e-01 -5.10141115e-03 3.31836657e+02] [ 9.05801155e-01 4.23563382e-01 -1.08779658e-02 1.81333558e+02] [ 1.20147554e-02 -1.36903378e-05 9.99927820e-01 4.65918980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.060281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.86, Y:181.38, Z:4.66 [[ 4.23210130e-01 -9.06017213e-01 -5.09857266e-03 3.31860904e+02] [ 9.05951893e-01 4.23240841e-01 -1.08792960e-02 1.81383706e+02] [ 1.20147536e-02 -1.48332698e-05 9.99927820e-01 4.65763822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.120281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.89, Y:181.43, Z:4.66 [[ 4.20546814e-01 -9.07256530e-01 -5.09574518e-03 3.31885180e+02] [ 9.07191284e-01 4.20577683e-01 -1.08806202e-02 1.81432928e+02] [ 1.20146704e-02 -4.70054408e-05 9.99927820e-01 4.66071244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.180281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.91, Y:181.48, Z:4.66 [[ 4.20099607e-01 -9.07463709e-01 -5.09282975e-03 3.31909922e+02] [ 9.07398461e-01 4.20130473e-01 -1.08819847e-02 1.81483053e+02] [ 1.20146591e-02 -4.97084005e-05 9.99927820e-01 4.66163596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.240281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.93, Y:181.53, Z:4.66 [[ 4.22194633e-01 -9.06490918e-01 -5.08998819e-03 3.31931661e+02] [ 9.06425583e-01 4.22225314e-01 -1.08833136e-02 1.81532820e+02] [ 1.20147468e-02 -1.88189234e-05 9.99927820e-01 4.65689630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.300281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.95, Y:181.59, Z:4.66 [[ 4.27026626e-01 -9.04224741e-01 -5.08704586e-03 3.31948913e+02] [ 9.04159227e-01 4.27056923e-01 -1.08846887e-02 1.81586221e+02] [ 1.20146630e-02 4.85524563e-05 9.99927820e-01 4.65862339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36028169299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.97, Y:181.64, Z:4.66 [[ 4.27350861e-01 -9.04071564e-01 -5.08419528e-03 3.31969403e+02] [ 9.04006024e-01 4.27381099e-01 -1.08860201e-02 1.81636608e+02] [ 1.20146302e-02 5.60068866e-05 9.99927820e-01 4.66049204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.99, Y:181.69, Z:4.66 [[ 4.23841268e-01 -9.05722232e-01 -5.08123894e-03 3.31990190e+02] [ 9.05656792e-01 4.23871725e-01 -1.08873998e-02 1.81688450e+02] [ 1.20147536e-02 1.26707772e-05 9.99927820e-01 4.66313514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.01, Y:181.74, Z:4.67 [[ 4.19564206e-01 -9.07711456e-01 -5.07842603e-03 3.32009959e+02] [ 9.07646145e-01 4.19594937e-01 -1.08887117e-02 1.81740952e+02] [ 1.20146902e-02 -4.09001103e-05 9.99927820e-01 4.66620804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.03, Y:181.79, Z:4.66 [[ 4.14577503e-01 -9.09999852e-01 -5.07579080e-03 3.32029517e+02] [ 9.09934696e-01 4.14608561e-01 -1.08899400e-02 1.81793418e+02] [ 1.20143101e-02 -1.03914007e-04 9.99927820e-01 4.66311345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.05, Y:181.84, Z:4.66 [[ 4.12196858e-01 -9.11080686e-01 -5.07290795e-03 3.32051408e+02] [ 9.11015594e-01 4.12228052e-01 -1.08912828e-02 1.81842942e+02] [ 1.20140324e-02 -1.32145709e-04 9.99927820e-01 4.66405135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.07, Y:181.89, Z:4.67 [[ 4.07363922e-01 -9.13251844e-01 -5.06993469e-03 3.32071853e+02] [ 9.13186902e-01 4.07395424e-01 -1.08926667e-02 1.81893476e+02] [ 1.20132161e-02 -1.92518535e-04 9.99927820e-01 4.66832153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.09, Y:181.94, Z:4.67 [[ 4.03068750e-01 -9.15155671e-01 -5.06760348e-03 3.32094137e+02] [ 9.15090864e-01 4.03100530e-01 -1.08937511e-02 1.81943910e+02] [ 1.20122318e-02 -2.46387002e-04 9.99927820e-01 4.66828292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.12, Y:181.99, Z:4.67 [[ 3.94960697e-01 -9.18684057e-01 -5.06473864e-03 3.32119550e+02] [ 9.18619516e-01 3.94993015e-01 -1.08950829e-02 1.81993738e+02] [ 1.20096753e-02 -3.49438229e-04 9.99927820e-01 4.66925479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.15, Y:182.04, Z:4.67 [[ 3.88857449e-01 -9.21284029e-01 -5.06186122e-03 3.32147593e+02] [ 9.21219687e-01 3.88890160e-01 -1.08964196e-02 1.82040390e+02] [ 1.20072053e-02 -4.25932297e-04 9.99927820e-01 4.67025854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.18, Y:182.09, Z:4.67 [[ 3.84020498e-01 -9.23310706e-01 -5.05943253e-03 3.32177094e+02] [ 9.23246521e-01 3.84053518e-01 -1.08975471e-02 1.82088032e+02] [ 1.20049148e-02 -4.86221997e-04 9.99927820e-01 4.67236914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.21, Y:182.14, Z:4.67 [[ 3.81207876e-01 -9.24475519e-01 -5.05665352e-03 3.32207711e+02] [ 9.24411419e-01 3.81241058e-01 -1.08988365e-02 1.82135313e+02] [ 1.20035115e-02 -5.19705934e-04 9.99927820e-01 4.67147246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.24, Y:182.18, Z:4.67 [[ 3.80924682e-01 -9.24592259e-01 -5.05386624e-03 3.32238449e+02] [ 9.24528152e-01 3.80957851e-01 -1.09001288e-02 1.82181806e+02] [ 1.20034848e-02 -5.20313509e-04 9.99927820e-01 4.67167677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.27, Y:182.23, Z:4.67 [[ 3.81337834e-01 -9.24421951e-01 -5.05109149e-03 3.32272890e+02] [ 9.24357812e-01 3.81370942e-01 -1.09014145e-02 1.82227087e+02] [ 1.20038464e-02 -5.11894084e-04 9.99927820e-01 4.67325348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:332.30, Y:182.27, Z:4.67 [[ 3.83016835e-01 -9.23727567e-01 -5.04828503e-03 3.32302733e+02] [ 9.23663351e-01 3.83049793e-01 -1.09027140e-02 1.82273284e+02] [ 1.20048820e-02 -4.86992865e-04 9.99927820e-01 4.67360567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.33, Y:182.32, Z:4.68 [[ 3.87221222e-01 -9.21973028e-01 -5.04589431e-03 3.32334538e+02] [ 9.21908648e-01 3.87253859e-01 -1.09038203e-02 1.82318340e+02] [ 1.20070703e-02 -4.29662985e-04 9.99927820e-01 4.67606133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.37, Y:182.36, Z:4.67 [[ 3.96215402e-01 -9.18143737e-01 -5.04307122e-03 3.32367013e+02] [ 9.18079025e-01 3.96247375e-01 -1.09051258e-02 1.82364807e+02] [ 1.20107767e-02 -3.09159084e-04 9.99927820e-01 4.67110755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.32028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.40, Y:182.41, Z:4.67 [[ 4.01274313e-01 -9.15944060e-01 -5.04030254e-03 3.32396414e+02] [ 9.15879156e-01 4.01305895e-01 -1.09064054e-02 1.82412546e+02] [ 1.20123603e-02 -2.39847712e-04 9.99927820e-01 4.67195145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.380281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.43, Y:182.46, Z:4.68 [[ 4.05824644e-01 -9.13937078e-01 -5.03742649e-03 3.32429334e+02] [ 9.13872001e-01 4.05855869e-01 -1.09077336e-02 1.82457732e+02] [ 1.20134513e-02 -1.76935922e-04 9.99927820e-01 4.67760809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.440281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.46, Y:182.51, Z:4.68 [[ 4.08247182e-01 -9.12857543e-01 -5.03443941e-03 3.32457660e+02] [ 9.12792366e-01 4.08278198e-01 -1.09091121e-02 1.82506234e+02] [ 1.20139171e-02 -1.41783597e-04 9.99927820e-01 4.68019903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.500281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.49, Y:182.55, Z:4.68 [[ 4.10068322e-01 -9.12040927e-01 -5.03169048e-03 3.32491019e+02] [ 9.11975674e-01 4.10099175e-01 -1.09103799e-02 1.82552040e+02] [ 1.20142051e-02 -1.14778153e-04 9.99927820e-01 4.67887741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.560281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.52, Y:182.60, Z:4.68 [[ 4.10303839e-01 -9.11935014e-01 -5.02884095e-03 3.32522227e+02] [ 9.11869737e-01 4.10334642e-01 -1.09116931e-02 1.82598316e+02] [ 1.20142627e-02 -1.08538296e-04 9.99927820e-01 4.67950978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.620281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.55, Y:182.64, Z:4.68 [[ 4.09606710e-01 -9.12248367e-01 -5.02597719e-03 3.32551616e+02] [ 9.12183097e-01 4.09637528e-01 -1.09130120e-02 1.82644850e+02] [ 1.20142063e-02 -1.14568484e-04 9.99927820e-01 4.67907289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.680281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.58, Y:182.69, Z:4.68 [[ 4.11789211e-01 -9.11265283e-01 -5.02301471e-03 3.32582540e+02] [ 9.11199922e-01 4.11819837e-01 -1.09143754e-02 1.82691701e+02] [ 1.20144685e-02 -8.25485742e-05 9.99927820e-01 4.68090760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.740281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.61, Y:182.74, Z:4.68 [[ 4.16571190e-01 -9.09089237e-01 -5.02016211e-03 3.32608240e+02] [ 9.09023701e-01 4.16601438e-01 -1.09156873e-02 1.82740678e+02] [ 1.20147406e-02 -1.62854818e-05 9.99927820e-01 4.68246933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.800281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.63, Y:182.79, Z:4.68 [[ 4.21120894e-01 -9.06990639e-01 -5.01727095e-03 3.32630119e+02] [ 9.06924937e-01 4.21150778e-01 -1.09170160e-02 1.82790746e+02] [ 1.20146589e-02 4.70954124e-05 9.99927820e-01 4.68138672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86028169299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.65, Y:182.84, Z:4.68 [[ 4.24309829e-01 -9.05503189e-01 -5.01428194e-03 3.32654463e+02] [ 9.05437366e-01 4.24339446e-01 -1.09183888e-02 1.82841906e+02] [ 1.20143935e-02 9.26614380e-05 9.99927820e-01 4.68054162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.68, Y:182.89, Z:4.68 [[ 4.26178832e-01 -9.04625054e-01 -5.01152860e-03 3.32676388e+02] [ 9.04559154e-01 4.26208280e-01 -1.09196524e-02 1.82893215e+02] [ 1.20141461e-02 1.20500637e-04 9.99927820e-01 4.68225652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.70, Y:182.94, Z:4.68 [[ 4.29015607e-01 -9.03283190e-01 -5.00866481e-03 3.32699382e+02] [ 9.03217183e-01 4.29044814e-01 -1.09209658e-02 1.82944074e+02] [ 1.20136665e-02 1.61352657e-04 9.99927820e-01 4.68408453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.72, Y:183.00, Z:4.69 [[ 4.29977832e-01 -9.02825568e-01 -5.00580009e-03 3.32719387e+02] [ 9.02759515e-01 4.30006933e-01 -1.09222787e-02 1.82995244e+02] [ 1.20134412e-02 1.77304065e-04 9.99927820e-01 4.68762326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:332.74, Y:183.05, Z:4.69 [[ 4.29940731e-01 -9.02843253e-01 -5.00283984e-03 3.32741211e+02] [ 9.02777185e-01 4.29969799e-01 -1.09236345e-02 1.83046242e+02] [ 1.20133997e-02 1.80065726e-04 9.99927820e-01 4.68589557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.76, Y:183.10, Z:4.69 [[ 4.32676817e-01 -9.01535231e-01 -4.99998223e-03 3.32759902e+02] [ 9.01469060e-01 4.32705650e-01 -1.09249423e-02 1.83098905e+02] [ 1.20127410e-02 2.19639974e-04 9.99927820e-01 4.68644544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.78, Y:183.15, Z:4.69 [[ 4.35705457e-01 -9.00075433e-01 -4.99707257e-03 3.32776429e+02] [ 9.00009150e-01 4.35734032e-01 -1.09262730e-02 1.83151228e+02] [ 1.20118645e-02 2.63225743e-04 9.99927820e-01 4.68721929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.79, Y:183.20, Z:4.69 [[ 4.36118513e-01 -8.99875381e-01 -4.99407131e-03 3.32794286e+02] [ 8.99809070e-01 4.36147021e-01 -1.09276446e-02 1.83202600e+02] [ 1.20116677e-02 2.72037467e-04 9.99927820e-01 4.68800237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.81, Y:183.25, Z:4.69 [[ 4.34354588e-01 -9.00728139e-01 -4.99113807e-03 3.32813321e+02] [ 9.00661868e-01 4.34383191e-01 -1.09289842e-02 1.83254018e+02] [ 1.20121101e-02 2.51726702e-04 9.99927820e-01 4.68760051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.83, Y:183.31, Z:4.69 [[ 4.34896504e-01 -9.00466628e-01 -4.98831575e-03 3.32831646e+02] [ 9.00400325e-01 4.34925033e-01 -1.09302723e-02 1.83306654e+02] [ 1.20118888e-02 2.62056076e-04 9.99927820e-01 4.68686156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.85, Y:183.36, Z:4.68 [[ 4.36073916e-01 -8.99897041e-01 -4.98551882e-03 3.32852078e+02] [ 8.99830687e-01 4.36102323e-01 -1.09315478e-02 1.83358224e+02] [ 1.20114639e-02 2.80840053e-04 9.99927820e-01 4.68421990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.87, Y:183.41, Z:4.69 [[ 4.38052462e-01 -8.98935600e-01 -4.98272512e-03 3.32867480e+02] [ 8.98869169e-01 4.38080689e-01 -1.09328211e-02 1.83410770e+02] [ 1.20107378e-02 3.10331206e-04 9.99927820e-01 4.68906239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.88, Y:183.46, Z:4.69 [[ 4.41139322e-01 -8.97424813e-01 -4.98032671e-03 3.32884585e+02] [ 8.97358273e-01 4.41167292e-01 -1.09339136e-02 1.83463772e+02] [ 1.20095226e-02 3.54241837e-04 9.99927820e-01 4.68847590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64028169299996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:332.90, Y:183.52, Z:4.69 [[ 4.42292798e-01 -8.96856903e-01 -4.97763101e-03 3.32900699e+02] [ 8.96790313e-01 4.42320650e-01 -1.09351406e-02 1.83517299e+02] [ 1.20089653e-02 3.72642675e-04 9.99927820e-01 4.68847396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.91, Y:183.57, Z:4.69 [[ 4.43936034e-01 -8.96044669e-01 -4.97477963e-03 3.32911771e+02] [ 8.95978014e-01 4.43963729e-01 -1.09364377e-02 1.83572295e+02] [ 1.20081584e-02 3.97785592e-04 9.99927820e-01 4.69078287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.92, Y:183.63, Z:4.69 [[ 4.42588609e-01 -8.96710992e-01 -4.97183675e-03 3.32923339e+02] [ 8.96644364e-01 4.42616369e-01 -1.09377754e-02 1.83628198e+02] [ 1.20086397e-02 3.82965399e-04 9.99927820e-01 4.69207152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.82028169299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:332.94, Y:183.68, Z:4.69 [[ 4.39200308e-01 -8.98375422e-01 -4.96905135e-03 3.32941382e+02] [ 8.98308884e-01 4.39228285e-01 -1.09390406e-02 1.83681101e+02] [ 1.20099131e-02 3.40687049e-04 9.99927820e-01 4.69432118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.880281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.96, Y:183.73, Z:4.69 [[ 4.34241766e-01 -9.00782673e-01 -4.96627353e-03 3.32955441e+02] [ 9.00716277e-01 4.34270075e-01 -1.09403016e-02 1.83734347e+02] [ 1.20115381e-02 2.77532493e-04 9.99927820e-01 4.69259456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.940281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.97, Y:183.79, Z:4.69 [[ 4.33626093e-01 -9.01079226e-01 -4.96392056e-03 3.32971579e+02] [ 9.01012837e-01 4.33654419e-01 -1.09413691e-02 1.83787949e+02] [ 1.20116665e-02 2.71906999e-04 9.99927820e-01 4.69315968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.000281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.99, Y:183.84, Z:4.69 [[ 4.32727447e-01 -9.01511144e-01 -4.96116487e-03 3.32990515e+02] [ 9.01444769e-01 4.32755806e-01 -1.09426185e-02 1.83840229e+02] [ 1.20118654e-02 2.62955254e-04 9.99927820e-01 4.69430953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.060281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.01, Y:183.89, Z:4.69 [[ 4.29757412e-01 -9.02930773e-01 -4.95838561e-03 3.33010655e+02] [ 9.02864477e-01 4.29785956e-01 -1.09438777e-02 1.83892118e+02] [ 1.20126085e-02 2.26462334e-04 9.99927820e-01 4.69386029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.120281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.03, Y:183.94, Z:4.69 [[ 4.27353438e-01 -9.04071060e-01 -4.95551897e-03 3.33030599e+02] [ 9.04004825e-01 4.27382123e-01 -1.09451756e-02 1.83942842e+02] [ 1.20131167e-02 1.97645354e-04 9.99927820e-01 4.69411923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.180281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:333.05, Y:183.99, Z:4.70 [[ 4.22826619e-01 -9.06197066e-01 -4.95254180e-03 3.33050754e+02] [ 9.06130960e-01 4.22855599e-01 -1.09465226e-02 1.83994803e+02] [ 1.20139167e-02 1.40829661e-04 9.99927820e-01 4.69787719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.240281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.07, Y:184.05, Z:4.70 [[ 4.19838550e-01 -9.07585309e-01 -4.94969116e-03 3.33071108e+02] [ 9.07519283e-01 4.19867713e-01 -1.09478114e-02 1.84046576e+02] [ 1.20142883e-02 1.04373080e-04 9.99927820e-01 4.69813591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.300281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.09, Y:184.10, Z:4.70 [[ 4.16563086e-01 -9.09093353e-01 -4.94685046e-03 3.33090812e+02] [ 9.09027417e-01 4.16592453e-01 -1.09490948e-02 1.84098725e+02] [ 1.20145699e-02 6.41660320e-05 9.99927820e-01 4.69982495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36028169299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.11, Y:184.15, Z:4.70 [[ 4.13476656e-01 -9.10501297e-01 -4.94400831e-03 3.33112596e+02] [ 9.10435446e-01 4.13506212e-01 -1.09503780e-02 1.84149868e+02] [ 1.20147116e-02 2.65252822e-05 9.99927820e-01 4.69797467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.13, Y:184.20, Z:4.70 [[ 4.11881596e-01 -9.11223977e-01 -4.94117769e-03 3.33132897e+02] [ 9.11158162e-01 4.11911234e-01 -1.09516552e-02 1.84201344e+02] [ 1.20147374e-02 8.59081546e-06 9.99927820e-01 4.69824547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.15, Y:184.25, Z:4.70 [[ 4.11207786e-01 -9.11528260e-01 -4.93834111e-03 3.33152231e+02] [ 9.11462453e-01 4.11237438e-01 -1.09529341e-02 1.84252711e+02] [ 1.20147397e-02 2.81927812e-06 9.99927820e-01 4.70039712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.17, Y:184.30, Z:4.70 [[ 4.13315995e-01 -9.10574283e-01 -4.93593713e-03 3.33171593e+02] [ 9.10508394e-01 4.13345465e-01 -1.09540173e-02 1.84304618e+02] [ 1.20146937e-02 3.32583724e-05 9.99927820e-01 4.69727857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.19, Y:184.36, Z:4.70 [[ 4.13618008e-01 -9.10437152e-01 -4.93315360e-03 3.33192949e+02] [ 9.10371238e-01 4.13647423e-01 -1.09552708e-02 1.84356108e+02] [ 1.20146718e-02 4.02961139e-05 9.99927820e-01 4.69961844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.21, Y:184.41, Z:4.70 [[ 4.12965818e-01 -9.10733180e-01 -4.93024929e-03 3.33211684e+02] [ 9.10667272e-01 4.12995246e-01 -1.09565776e-02 1.84407434e+02] [ 1.20146883e-02 3.48753726e-05 9.99927820e-01 4.70467033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.23, Y:184.46, Z:4.71 [[ 4.12305316e-01 -9.11032405e-01 -4.92777203e-03 3.33233109e+02] [ 9.10966505e-01 4.12334762e-01 -1.09576917e-02 1.84458750e+02] [ 1.20147039e-02 2.88792711e-05 9.99927820e-01 4.70691443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.25, Y:184.51, Z:4.71 [[ 4.12200828e-01 -9.11079701e-01 -4.92506250e-03 3.33253395e+02] [ 9.11013789e-01 4.12230249e-01 -1.09589094e-02 1.84510573e+02] [ 1.20146996e-02 3.04716657e-05 9.99927820e-01 4.70856471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.27, Y:184.56, Z:4.70 [[ 4.13059745e-01 -9.10690627e-01 -4.92235682e-03 3.33274296e+02] [ 9.10624673e-01 4.13089071e-01 -1.09601245e-02 1.84561804e+02] [ 1.20146545e-02 4.47666713e-05 9.99927820e-01 4.69869775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:333.30, Y:184.61, Z:4.70 [[ 4.14761567e-01 -9.09916831e-01 -4.91967483e-03 3.33295413e+02] [ 9.09850809e-01 4.14790737e-01 -1.09613283e-02 1.84612778e+02] [ 1.20145326e-02 7.01675606e-05 9.99927820e-01 4.69940946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.31, Y:184.66, Z:4.71 [[ 4.16294489e-01 -9.09216544e-01 -4.91683829e-03 3.33314456e+02] [ 9.09150457e-01 4.16323514e-01 -1.09626005e-02 1.84664540e+02] [ 1.20143731e-02 9.35243893e-05 9.99927820e-01 4.71023454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.33, Y:184.72, Z:4.71 [[ 4.14886293e-01 -9.09859997e-01 -4.91415044e-03 3.33333252e+02] [ 9.09793941e-01 4.14915388e-01 -1.09638052e-02 1.84715795e+02] [ 1.20144844e-02 7.78682116e-05 9.99927820e-01 4.70960529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.36, Y:184.77, Z:4.71 [[ 4.13725159e-01 -9.10388583e-01 -4.91132439e-03 3.33355572e+02] [ 9.10322549e-01 4.13754304e-01 -1.09650710e-02 1.84765543e+02] [ 1.20145571e-02 6.56364235e-05 9.99927820e-01 4.70723928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.38, Y:184.82, Z:4.71 [[ 4.12012508e-01 -9.11164968e-01 -4.90850391e-03 3.33378315e+02] [ 9.11098974e-01 4.12041743e-01 -1.09663335e-02 1.84815697e+02] [ 1.20146474e-02 4.61336839e-05 9.99927820e-01 4.70760794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.40, Y:184.87, Z:4.71 [[ 4.11240992e-01 -9.11513456e-01 -4.90580995e-03 3.33400326e+02] [ 9.11447472e-01 4.11270251e-01 -1.09675385e-02 1.84865927e+02] [ 1.20146726e-02 3.89133306e-05 9.99927820e-01 4.70527427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.42, Y:184.92, Z:4.70 [[ 4.12065649e-01 -9.11140967e-01 -4.90301497e-03 3.33422760e+02] [ 9.11074942e-01 4.12094814e-01 -1.09687878e-02 1.84915339e+02] [ 1.20146190e-02 5.28465954e-05 9.99927820e-01 4.70497059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32028169299997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:333.45, Y:184.97, Z:4.71 [[ 4.13349465e-01 -9.10559283e-01 -4.90024791e-03 3.33445967e+02] [ 9.10493202e-01 4.13378504e-01 -1.09700239e-02 1.84966116e+02] [ 1.20145142e-02 7.28110815e-05 9.99927820e-01 4.71056932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.380281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:333.47, Y:185.02, Z:4.71 [[ 4.15277434e-01 -9.09681629e-01 -4.89752180e-03 3.33465054e+02] [ 9.09615473e-01 4.15306300e-01 -1.09712408e-02 1.85018316e+02] [ 1.20143079e-02 1.01247115e-04 9.99927820e-01 4.71279769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.440281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.48, Y:185.07, Z:4.71 [[ 4.19095684e-01 -9.07928879e-01 -4.89469088e-03 3.33482873e+02] [ 9.07862587e-01 4.19124238e-01 -1.09725036e-02 1.85071376e+02] [ 1.20137365e-02 1.54822183e-04 9.99927820e-01 4.71080478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.500281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.50, Y:185.12, Z:4.71 [[ 4.18416904e-01 -9.08241909e-01 -4.89186525e-03 3.33497829e+02] [ 9.08175623e-01 4.18445473e-01 -1.09737632e-02 1.85124634e+02] [ 1.20138105e-02 1.48935259e-04 9.99927820e-01 4.71305185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.560281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.52, Y:185.18, Z:4.72 [[ 4.14862594e-01 -9.09870939e-01 -4.88893734e-03 3.33516229e+02] [ 9.09804751e-01 4.14891386e-01 -1.09750675e-02 1.85176830e+02] [ 1.20142730e-02 1.05166551e-04 9.99927820e-01 4.71702119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.620281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.54, Y:185.23, Z:4.71 [[ 4.08576795e-01 -9.12710868e-01 -4.88616155e-03 3.33535257e+02] [ 9.12644865e-01 4.08606010e-01 -1.09763032e-02 1.85229224e+02] [ 1.20147061e-02 2.53325186e-05 9.99927821e-01 4.71039468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.680281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.56, Y:185.28, Z:4.71 [[ 4.01672411e-01 -9.15770401e-01 -4.88326651e-03 3.33557277e+02] [ 9.15704605e-01 4.01702089e-01 -1.09775910e-02 1.85281188e+02] [ 1.20145713e-02 -6.22341935e-05 9.99927821e-01 4.71298312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.740281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:333.58, Y:185.33, Z:4.72 [[ 3.97078275e-01 -9.17771771e-01 -4.88060978e-03 3.33581337e+02] [ 9.17706110e-01 3.97108250e-01 -1.09787720e-02 1.85330421e+02] [ 1.20141375e-02 -1.19533560e-04 9.99927821e-01 4.71700167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.800281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:333.61, Y:185.38, Z:4.72 [[ 3.94311672e-01 -9.18963826e-01 -4.87759686e-03 3.33607377e+02] [ 9.18898240e-01 3.94341809e-01 -1.09801104e-02 1.85378859e+02] [ 1.20137647e-02 -1.52429464e-04 9.99927821e-01 4.71760767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86028169299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.63, Y:185.43, Z:4.72 [[ 3.93223393e-01 -9.19430041e-01 -4.87466840e-03 3.33632559e+02] [ 9.19364474e-01 3.93253573e-01 -1.09814104e-02 1.85427946e+02] [ 1.20136194e-02 -1.63449503e-04 9.99927821e-01 4.72040244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:333.66, Y:185.48, Z:4.72 [[ 3.91716723e-01 -9.20072972e-01 -4.87181014e-03 3.33661372e+02] [ 9.20007439e-01 3.91746976e-01 -1.09826783e-02 1.85476296e+02] [ 1.20133823e-02 -1.80002828e-04 9.99927821e-01 4.71813453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:333.69, Y:185.53, Z:4.72 [[ 3.92768084e-01 -9.19624666e-01 -4.86895267e-03 3.33687276e+02] [ 9.19559082e-01 3.92798228e-01 -1.09839449e-02 1.85525772e+02] [ 1.20136227e-02 -1.63146642e-04 9.99927821e-01 4.71601497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.71, Y:185.58, Z:4.72 [[ 3.93945112e-01 -9.19121086e-01 -4.86611649e-03 3.33712885e+02] [ 9.19055448e-01 3.93975138e-01 -1.09852013e-02 1.85576233e+02] [ 1.20138590e-02 -1.44664523e-04 9.99927821e-01 4.71992285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10028169299994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:333.74, Y:185.63, Z:4.72 [[ 3.95780002e-01 -9.18332476e-01 -4.86344464e-03 3.33736879e+02] [ 9.18266764e-01 3.95809865e-01 -1.09863840e-02 1.85625006e+02] [ 1.20141526e-02 -1.17748470e-04 9.99927821e-01 4.72218114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.76, Y:185.67, Z:4.72 [[ 3.95069795e-01 -9.18638250e-01 -4.86039848e-03 3.33763485e+02] [ 9.18572544e-01 3.95099672e-01 -1.09877315e-02 1.85674409e+02] [ 1.20140923e-02 -1.23707760e-04 9.99927821e-01 4.72035567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.79, Y:185.72, Z:4.72 [[ 3.93966275e-01 -9.19112060e-01 -4.85757540e-03 3.33789387e+02] [ 9.19046375e-01 3.93996197e-01 -1.09889794e-02 1.85722376e+02] [ 1.20139698e-02 -1.35049777e-04 9.99927821e-01 4.72176902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28028169299995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:333.82, Y:185.77, Z:4.72 [[ 3.91919448e-01 -9.19986727e-01 -4.85465379e-03 3.33818340e+02] [ 9.19921093e-01 3.91949482e-01 -1.09902700e-02 1.85770638e+02] [ 1.20136815e-02 -1.58597880e-04 9.99927821e-01 4.71926962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:333.85, Y:185.82, Z:4.72 [[ 3.91496657e-01 -9.20166738e-01 -4.85190844e-03 3.33846559e+02] [ 9.20101103e-01 3.91526688e-01 -1.09914818e-02 1.85818958e+02] [ 1.20136476e-02 -1.61117913e-04 9.99927821e-01 4.71769363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40028169299995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:333.87, Y:185.87, Z:4.72 [[ 3.94843438e-01 -9.18735623e-01 -4.84906610e-03 3.33874074e+02] [ 9.18669864e-01 3.94873196e-01 -1.09927356e-02 1.85865963e+02] [ 1.20141841e-02 -1.14281360e-04 9.99927821e-01 4.71569622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:333.90, Y:185.92, Z:4.72 [[ 4.00684723e-01 -9.16203180e-01 -4.84612443e-03 3.33899923e+02] [ 9.16137217e-01 4.00714027e-01 -1.09940323e-02 1.85915445e+02] [ 1.20146774e-02 -3.45741541e-05 9.99927821e-01 4.72037196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.92, Y:185.97, Z:4.72 [[ 4.02435741e-01 -9.15435424e-01 -4.84335274e-03 3.33922582e+02] [ 9.15369390e-01 4.02464885e-01 -1.09952532e-02 1.85965708e+02] [ 1.20147237e-02 -8.57396827e-06 9.99927821e-01 4.72122804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.94, Y:186.02, Z:4.72 [[ 4.05847432e-01 -9.13928024e-01 -4.84042378e-03 3.33944367e+02] [ 9.13861866e-01 4.05876294e-01 -1.09965425e-02 1.86015284e+02] [ 1.20146616e-02 3.94398229e-05 9.99927821e-01 4.71851312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:333.96, Y:186.07, Z:4.72 [[ 4.04998623e-01 -9.14304495e-01 -4.83794726e-03 3.33962333e+02] [ 9.14238351e-01 4.05027517e-01 -1.09976319e-02 1.86068090e+02] [ 1.20146861e-02 3.09888684e-05 9.99927821e-01 4.71978084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70028169299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:333.98, Y:186.12, Z:4.72 [[ 4.04312881e-01 -9.14607958e-01 -4.83507031e-03 3.33979549e+02] [ 9.14541821e-01 4.04341789e-01 -1.09988966e-02 1.86120879e+02] [ 1.20146994e-02 2.51215771e-05 9.99927821e-01 4.72099562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76028169299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:333.99, Y:186.17, Z:4.73 [[ 4.03115394e-01 -9.15136399e-01 -4.83222260e-03 3.33994053e+02] [ 9.15070284e-01 4.03144355e-01 -1.10001476e-02 1.86173908e+02] [ 1.20147187e-02 1.25055195e-05 9.99927821e-01 4.72727837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.82028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.01, Y:186.23, Z:4.73 [[ 4.01230971e-01 -9.15964181e-01 -4.82979361e-03 3.34012176e+02] [ 9.15898113e-01 4.01260039e-01 -1.10012140e-02 1.86226578e+02] [ 1.20147211e-02 -9.57108675e-06 9.99927821e-01 4.72549351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.880281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:334.03, Y:186.28, Z:4.72 [[ 3.98231213e-01 -9.17272371e-01 -4.82692558e-03 3.34029374e+02] [ 9.17206383e-01 3.98260462e-01 -1.10024722e-02 1.86278169e+02] [ 1.20146374e-02 -4.57590982e-05 9.99927821e-01 4.72125817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.940281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.05, Y:186.33, Z:4.73 [[ 3.99415380e-01 -9.16757375e-01 -4.82395372e-03 3.34046831e+02] [ 9.16691334e-01 3.99444508e-01 -1.10037750e-02 1.86330157e+02] [ 1.20146937e-02 -2.69995824e-05 9.99927821e-01 4.72895891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.000281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.07, Y:186.38, Z:4.73 [[ 3.99589206e-01 -9.16681637e-01 -4.82105039e-03 3.34066567e+02] [ 9.16615576e-01 3.99618287e-01 -1.10050469e-02 1.86381955e+02] [ 1.20147043e-02 -2.15519105e-05 9.99927821e-01 4.72725014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.060281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:334.09, Y:186.43, Z:4.72 [[ 3.96875807e-01 -9.17859673e-01 -4.81817206e-03 3.34088777e+02] [ 9.17793682e-01 3.96905049e-01 -1.10063070e-02 1.86433208e+02] [ 1.20146021e-02 -5.39509295e-05 9.99927821e-01 4.72439408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.120281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.11, Y:186.48, Z:4.73 [[ 3.93319530e-01 -9.19389232e-01 -4.81531619e-03 3.34108154e+02] [ 9.19323340e-01 3.93348993e-01 -1.10075563e-02 1.86484437e+02] [ 1.20143285e-02 -9.73457094e-05 9.99927821e-01 4.72735337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.180281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:334.13, Y:186.54, Z:4.73 [[ 3.92545944e-01 -9.19719804e-01 -4.81289009e-03 3.34127261e+02] [ 9.19653924e-01 3.92575434e-01 -1.10086169e-02 1.86535019e+02] [ 1.20142654e-02 -1.04805325e-04 9.99927821e-01 4.72765461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.240281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:334.15, Y:186.59, Z:4.73 [[ 3.90942153e-01 -9.20402679e-01 -4.81049838e-03 3.34147278e+02] [ 9.20336838e-01 3.90971729e-01 -1.10096620e-02 1.86586517e+02] [ 1.20140912e-02 -1.23137913e-04 9.99927821e-01 4.72829140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.300281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:334.17, Y:186.64, Z:4.73 [[ 3.85605839e-01 -9.22651083e-01 -4.80787172e-03 3.34168959e+02] [ 9.22585400e-01 3.85635764e-01 -1.10108089e-02 1.86637539e+02] [ 1.20132220e-02 -1.89840047e-04 9.99927821e-01 4.72708515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36028169299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.19, Y:186.69, Z:4.73 [[ 3.81548079e-01 -9.24336505e-01 -4.80515191e-03 3.34189728e+02] [ 9.24270938e-01 3.81578260e-01 -1.10119957e-02 1.86689099e+02] [ 1.20123311e-02 -2.39656462e-04 9.99927821e-01 4.72696389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:334.21, Y:186.74, Z:4.73 [[ 3.76945362e-01 -9.26223046e-01 -4.80243980e-03 3.34213216e+02] [ 9.26157615e-01 3.76975837e-01 -1.10131784e-02 1.86739457e+02] [ 1.20110634e-02 -2.96449689e-04 9.99927821e-01 4.72826818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:334.24, Y:186.79, Z:4.73 [[ 3.69299211e-01 -9.29298152e-01 -4.79964564e-03 3.34242491e+02] [ 9.29232960e-01 3.69330191e-01 -1.10143959e-02 1.86786317e+02] [ 1.20083118e-02 -3.92381186e-04 9.99927821e-01 4.73115734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.27, Y:186.83, Z:4.73 [[ 3.64491140e-01 -9.31194499e-01 -4.79726031e-03 3.34272456e+02] [ 9.31129454e-01 3.64522428e-01 -1.10154348e-02 1.86834168e+02] [ 1.20062212e-02 -4.51841994e-04 9.99927821e-01 4.72941821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:334.31, Y:186.88, Z:4.72 [[ 3.62241642e-01 -9.32071888e-01 -4.79455510e-03 3.34309067e+02] [ 9.32006903e-01 3.62273055e-01 -1.10166121e-02 1.86879331e+02] [ 1.20052126e-02 -4.77882794e-04 9.99927821e-01 4.72444505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.34, Y:186.92, Z:4.73 [[ 3.66731836e-01 -9.30314353e-01 -4.79212815e-03 3.34344845e+02] [ 9.30249204e-01 3.66762907e-01 -1.10176677e-02 1.86923750e+02] [ 1.20074693e-02 -4.17343893e-04 9.99927821e-01 4.73111427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.38, Y:186.97, Z:4.74 [[ 3.72667301e-01 -9.27952662e-01 -4.78946203e-03 3.34375860e+02] [ 9.27887301e-01 3.72697924e-01 -1.10188266e-02 1.86970950e+02] [ 1.20099720e-02 -3.37724639e-04 9.99927821e-01 4.73661258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.40, Y:187.02, Z:4.73 [[ 3.83834743e-01 -9.23389397e-01 -4.78665547e-03 3.34403990e+02] [ 9.23323655e-01 3.83864541e-01 -1.10200456e-02 1.87019747e+02] [ 1.20132206e-02 -1.89755846e-04 9.99927821e-01 4.73496678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:334.43, Y:187.07, Z:4.74 [[ 3.95234485e-01 -9.18567807e-01 -4.78383525e-03 3.34425829e+02] [ 9.18501688e-01 3.95263433e-01 -1.10212697e-02 1.87069185e+02] [ 1.20146587e-02 -3.79748824e-05 9.99927821e-01 4.73981162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:334.44, Y:187.12, Z:4.74 [[ 4.02796191e-01 -9.15277210e-01 -4.78089988e-03 3.34442785e+02] [ 9.15210839e-01 4.02824557e-01 -1.10225429e-02 1.87120417e+02] [ 1.20145462e-02 6.43069182e-05 9.99927821e-01 4.74346027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:334.46, Y:187.17, Z:4.74 [[ 4.11316732e-01 -9.11479960e-01 -4.77792077e-03 3.34457727e+02] [ 9.11413312e-01 4.11344443e-01 -1.10238341e-02 1.87173365e+02] [ 1.20133750e-02 1.79626843e-04 9.99927821e-01 4.73742258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:334.47, Y:187.23, Z:4.74 [[ 4.18316248e-01 -9.08288894e-01 -4.77508466e-03 3.34469168e+02] [ 9.08222021e-01 4.18343411e-01 -1.10250625e-02 1.87227480e+02] [ 1.20115670e-02 2.75125734e-04 9.99927821e-01 4.73629783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:334.48, Y:187.28, Z:4.74 [[ 4.22219948e-01 -9.06480855e-01 -4.77229546e-03 3.34482907e+02] [ 9.06413852e-01 4.22246789e-01 -1.10262697e-02 1.87281432e+02] [ 1.20101888e-02 3.29836300e-04 9.99927821e-01 4.73581369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:334.49, Y:187.34, Z:4.74 [[ 4.24574835e-01 -9.05380286e-01 -4.76952010e-03 3.34490442e+02] [ 9.05313199e-01 4.24601467e-01 -1.10274701e-02 1.87338085e+02] [ 1.20091992e-02 3.64076778e-04 9.99927821e-01 4.74224096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20028169299997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:334.50, Y:187.39, Z:4.74 [[ 4.22975647e-01 -9.06128512e-01 -4.76664466e-03 3.34504888e+02] [ 9.06061459e-01 4.23002363e-01 -1.10287128e-02 1.87390816e+02] [ 1.20097331e-02 3.46003933e-04 9.99927821e-01 4.74127647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26028169299997 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:334.52, Y:187.45, Z:4.74 [[ 4.16810975e-01 -9.08980703e-01 -4.76368372e-03 3.34515500e+02] [ 9.08913818e-01 4.16838110e-01 -1.10299916e-02 1.87445442e+02] [ 1.20117345e-02 2.67643595e-04 9.99927821e-01 4.73953968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32028169299997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:334.53, Y:187.50, Z:4.74 [[ 4.08118311e-01 -9.12916631e-01 -4.76128862e-03 3.34532162e+02] [ 9.12849996e-01 4.08146054e-01 -1.10310254e-02 1.87499056e+02] [ 1.20137077e-02 1.55621161e-04 9.99927821e-01 4.74419727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.380281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.55, Y:187.55, Z:4.74 [[ 4.02513627e-01 -9.15401626e-01 -4.75847147e-03 3.34550909e+02] [ 9.15335149e-01 4.02541744e-01 -1.10322405e-02 1.87550503e+02] [ 1.20144143e-02 8.50309425e-05 9.99927821e-01 4.74325567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.440281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.57, Y:187.60, Z:4.74 [[ 3.98081914e-01 -9.17337544e-01 -4.75607578e-03 3.34571380e+02] [ 9.17271191e-01 3.98110323e-01 -1.10332732e-02 1.87601896e+02] [ 1.20146786e-02 2.95352211e-05 9.99927821e-01 4.74333390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.500281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.59, Y:187.66, Z:4.74 [[ 3.92748658e-01 -9.19633568e-01 -4.75320572e-03 3.34588669e+02] [ 9.19567366e-01 3.92777417e-01 -1.10345095e-02 1.87655028e+02] [ 1.20146572e-02 -3.71040681e-05 9.99927821e-01 4.74210482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.560281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.61, Y:187.71, Z:4.75 [[ 3.89113896e-01 -9.21177404e-01 -4.75030274e-03 3.34608832e+02] [ 9.21111301e-01 3.89142883e-01 -1.10357591e-02 1.87706438e+02] [ 1.20144384e-02 -8.13903138e-05 9.99927821e-01 4.74705761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.620281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.63, Y:187.76, Z:4.75 [[ 3.87969514e-01 -9.21659979e-01 -4.74757015e-03 3.34628073e+02] [ 9.21593897e-01 3.87998550e-01 -1.10369345e-02 1.87758876e+02] [ 1.20143512e-02 -9.33375524e-05 9.99927821e-01 4.74771171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.680281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:334.64, Y:187.81, Z:4.75 [[ 3.91343664e-01 -9.20232375e-01 -4.74474201e-03 3.34644774e+02] [ 9.20166173e-01 3.91372424e-01 -1.10381502e-02 1.87810827e+02] [ 1.20146244e-02 -4.62409523e-05 9.99927821e-01 4.74584296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.740281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.66, Y:187.86, Z:4.75 [[ 3.95300031e-01 -9.18539817e-01 -4.74235726e-03 3.34663652e+02] [ 9.18473479e-01 3.95328477e-01 -1.10391747e-02 1.87863533e+02] [ 1.20147104e-02 8.05671930e-06 9.99927821e-01 4.74620186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.800281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:334.68, Y:187.92, Z:4.75 [[ 4.00477050e-01 -9.16294532e-01 -4.73955457e-03 3.34678079e+02] [ 9.16228020e-01 4.00505087e-01 -1.10403778e-02 1.87916334e+02] [ 1.20144536e-02 7.89052503e-05 9.99927821e-01 4.74765507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86028169299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.70, Y:187.97, Z:4.75 [[ 4.00669004e-01 -9.16210624e-01 -4.73716581e-03 3.34697150e+02] [ 9.16144095e-01 4.00696998e-01 -1.10414027e-02 1.87968971e+02] [ 1.20144186e-02 8.40213451e-05 9.99927821e-01 4.74717236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.71, Y:188.02, Z:4.75 [[ 3.98737069e-01 -9.17053071e-01 -4.73442249e-03 3.34714341e+02] [ 9.16986587e-01 3.98765170e-01 -1.10425789e-02 1.88021734e+02] [ 1.20145537e-02 6.16836124e-05 9.99927821e-01 4.74639360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.73, Y:188.07, Z:4.74 [[ 3.96725334e-01 -9.17925172e-01 -4.73169850e-03 3.34733032e+02] [ 9.17858735e-01 3.96753548e-01 -1.10437460e-02 1.88073863e+02] [ 1.20146506e-02 3.83030070e-05 9.99927821e-01 4.74305844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.75, Y:188.13, Z:4.75 [[ 3.91116484e-01 -9.20329035e-01 -4.72900015e-03 3.34751488e+02] [ 9.20262758e-01 3.91145071e-01 -1.10449013e-02 1.88125460e+02] [ 1.20146685e-02 -3.20797561e-05 9.99927821e-01 4.74586362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.77, Y:188.18, Z:4.75 [[ 3.85284054e-01 -9.22785923e-01 -4.72620961e-03 3.34771498e+02] [ 9.22719814e-01 3.85313027e-01 -1.10460953e-02 1.88177266e+02] [ 1.20142514e-02 -1.05082882e-04 9.99927821e-01 4.74798455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.79, Y:188.23, Z:4.75 [[ 3.74570930e-01 -9.27186231e-01 -4.72358373e-03 3.34793325e+02] [ 9.27120447e-01 3.74600634e-01 -1.10472181e-02 1.88226440e+02] [ 1.20122859e-02 -2.41364320e-04 9.99927821e-01 4.75045719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.82, Y:188.27, Z:4.75 [[ 3.64486478e-01 -9.31196714e-01 -4.72089470e-03 3.34822062e+02] [ 9.31131242e-01 3.64516863e-01 -1.10483671e-02 1.88274300e+02] [ 1.20090488e-02 -3.68792142e-04 9.99927821e-01 4.74843771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28028169299995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:334.85, Y:188.32, Z:4.75 [[ 3.59493602e-01 -9.33135622e-01 -4.71818522e-03 3.34853142e+02] [ 9.33070298e-01 3.59524306e-01 -1.10495240e-02 1.88320192e+02] [ 1.20070067e-02 -4.30165299e-04 9.99927821e-01 4.74907542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:334.88, Y:188.37, Z:4.75 [[ 3.58922941e-01 -9.33355285e-01 -4.71539689e-03 3.34880814e+02] [ 9.33289965e-01 3.58953651e-01 -1.10507138e-02 1.88367280e+02] [ 1.20068511e-02 -4.34477896e-04 9.99927821e-01 4.75257591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.91, Y:188.41, Z:4.75 [[ 3.63228111e-01 -9.31688323e-01 -4.71266785e-03 3.34913066e+02] [ 9.31622846e-01 3.63258487e-01 -1.10518775e-02 1.88412738e+02] [ 1.20088218e-02 -3.76076453e-04 9.99927821e-01 4.74880023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:334.94, Y:188.46, Z:4.75 [[ 3.66955628e-01 -9.30226524e-01 -4.70980973e-03 3.34939952e+02] [ 9.30160911e-01 3.66985707e-01 -1.10530954e-02 1.88461150e+02] [ 1.20103153e-02 -3.24885358e-04 9.99927821e-01 4.75018737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:334.97, Y:188.51, Z:4.75 [[ 3.73683681e-01 -9.27544258e-01 -4.70698859e-03 3.34969070e+02] [ 9.27478414e-01 3.73713252e-01 -1.10542966e-02 1.88509473e+02] [ 1.20124134e-02 -2.34820046e-04 9.99927821e-01 4.74895289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:334.99, Y:188.56, Z:4.75 [[ 3.80714786e-01 -9.24680552e-01 -4.70414986e-03 3.34993167e+02] [ 9.24614470e-01 3.80743821e-01 -1.10555045e-02 1.88560058e+02] [ 1.20138860e-02 -1.40530988e-04 9.99927821e-01 4.75464220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64028169299996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:335.01, Y:188.61, Z:4.76 [[ 3.84034932e-01 -9.23306594e-01 -4.70155213e-03 3.35013930e+02] [ 9.23240395e-01 3.84063699e-01 -1.10566091e-02 1.88611562e+02] [ 1.20143356e-02 -9.45386962e-05 9.99927821e-01 4.75515622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70028169299997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:335.03, Y:188.66, Z:4.76 [[ 3.86952757e-01 -9.22087570e-01 -4.69866705e-03 3.35032322e+02] [ 9.22021265e-01 3.86981279e-01 -1.10578351e-02 1.88662778e+02] [ 1.20145885e-02 -5.34111802e-05 9.99927821e-01 4.75593896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76028169299997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:335.05, Y:188.72, Z:4.76 [[ 3.88087744e-01 -9.21610467e-01 -4.69568085e-03 3.35051085e+02] [ 9.21544112e-01 3.88116149e-01 -1.10591030e-02 1.88715466e+02] [ 1.20146547e-02 -3.53746986e-05 9.99927821e-01 4.75626576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.82028169299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:335.06, Y:188.77, Z:4.75 [[ 3.91558792e-01 -9.20141125e-01 -4.69279455e-03 3.35064405e+02] [ 9.20074649e-01 3.91586912e-01 -1.10603276e-02 1.88770336e+02] [ 1.20146992e-02 1.30472345e-05 9.99927821e-01 4.75286663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.880281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:335.08, Y:188.82, Z:4.76 [[ 3.93334918e-01 -9.19383297e-01 -4.68987887e-03 3.35078142e+02] [ 9.19316752e-01 3.93362875e-01 -1.10615638e-02 1.88823503e+02] [ 1.20146413e-02 3.94150877e-05 9.99927821e-01 4.75649868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.940281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:335.10, Y:188.88, Z:4.76 [[ 3.91566176e-01 -9.20138010e-01 -4.68739216e-03 3.35096644e+02] [ 9.20071507e-01 3.91594231e-01 -1.10626175e-02 1.88876073e+02] [ 1.20146906e-02 1.90108521e-05 9.99927821e-01 4.75733671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.000281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:335.12, Y:188.93, Z:4.76 [[ 3.86930271e-01 -9.22097078e-01 -4.68451651e-03 3.35115440e+02] [ 9.22030701e-01 3.86958626e-01 -1.10638351e-02 1.88928658e+02] [ 1.20146440e-02 -3.83353410e-05 9.99927821e-01 4.75699105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.060281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:335.14, Y:188.98, Z:4.76 [[ 3.82209881e-01 -9.24063682e-01 -4.68166826e-03 3.35136977e+02] [ 9.23997437e-01 3.82238540e-01 -1.10650402e-02 1.88978761e+02] [ 1.20143158e-02 -9.66817938e-05 9.99927821e-01 4.76063196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.120281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:335.16, Y:189.03, Z:4.76 [[ 3.80168062e-01 -9.24905592e-01 -4.67872961e-03 3.35161351e+02] [ 9.24839395e-01 3.80196832e-01 -1.10662826e-02 1.89029079e+02] [ 1.20141048e-02 -1.20026253e-04 9.99927821e-01 4.76394341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.180281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:335.19, Y:189.08, Z:4.76 [[ 3.78532329e-01 -9.25576259e-01 -4.67586995e-03 3.35187524e+02] [ 9.25510098e-01 3.78561183e-01 -1.10674908e-02 1.89078688e+02] [ 1.20139096e-02 -1.38161793e-04 9.99927821e-01 4.76112502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.240281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:335.22, Y:189.13, Z:4.76 [[ 3.78303517e-01 -9.25669818e-01 -4.67303596e-03 3.35215436e+02] [ 9.25603649e-01 3.78332353e-01 -1.10686872e-02 1.89127478e+02] [ 1.20139104e-02 -1.38055825e-04 9.99927821e-01 4.75786401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.300281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:335.24, Y:189.18, Z:4.76 [[ 3.77895521e-01 -9.25836467e-01 -4.67021974e-03 3.35241275e+02] [ 9.25770297e-01 3.77924352e-01 -1.10698754e-02 1.89178081e+02] [ 1.20138841e-02 -1.40294399e-04 9.99927821e-01 4.76311866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36028169299993 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:335.27, Y:189.23, Z:4.76 [[ 3.78778356e-01 -9.25475645e-01 -4.66767727e-03 3.35265248e+02] [ 9.25409433e-01 3.78807094e-01 -1.10709473e-02 1.89227730e+02] [ 1.20140414e-02 -1.26077349e-04 9.99927821e-01 4.76443367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.29, Y:189.28, Z:4.76 [[ 3.79904913e-01 -9.25013782e-01 -4.66479163e-03 3.35287958e+02] [ 9.24947521e-01 3.79933535e-01 -1.10721630e-02 1.89277761e+02] [ 1.20142142e-02 -1.08318323e-04 9.99927821e-01 4.76340335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:335.31, Y:189.33, Z:4.77 [[ 3.79969157e-01 -9.24987409e-01 -4.66179409e-03 3.35310676e+02] [ 9.24921130e-01 3.79997739e-01 -1.10734250e-02 1.89328586e+02] [ 1.20142499e-02 -1.04231899e-04 9.99927821e-01 4.76935462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:335.34, Y:189.38, Z:4.77 [[ 3.77975882e-01 -9.25803720e-01 -4.65889995e-03 3.35337238e+02] [ 9.25737488e-01 3.78004572e-01 -1.10746425e-02 1.89377566e+02] [ 1.20140307e-02 -1.26970576e-04 9.99927821e-01 4.77124546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.37, Y:189.42, Z:4.77 [[ 3.75567287e-01 -9.26783434e-01 -4.65603724e-03 3.35367533e+02] [ 9.26717262e-01 3.75596115e-01 -1.10758459e-02 1.89424730e+02] [ 1.20137000e-02 -1.55104680e-04 9.99927821e-01 4.76860863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66028169299994 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:335.40, Y:189.47, Z:4.77 [[ 3.77837673e-01 -9.25860163e-01 -4.65318135e-03 3.35397834e+02] [ 9.25793905e-01 3.77866305e-01 -1.10770456e-02 1.89472541e+02] [ 1.20140757e-02 -1.22561800e-04 9.99927821e-01 4.77007837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:335.42, Y:189.52, Z:4.77 [[ 3.80650145e-01 -9.24707436e-01 -4.65031690e-03 3.35423718e+02] [ 9.24641077e-01 3.80678541e-01 -1.10782480e-02 1.89522242e+02] [ 1.20144142e-02 -8.29373095e-05 9.99927821e-01 4.76822105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78028169299995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:335.45, Y:189.57, Z:4.77 [[ 3.83183463e-01 -9.23660563e-01 -4.64743311e-03 3.35452857e+02] [ 9.23594112e-01 3.83211642e-01 -1.10794577e-02 1.89570008e+02] [ 1.20146086e-02 -4.68769037e-05 9.99927821e-01 4.76812608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84028169299995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:335.48, Y:189.62, Z:4.77 [[ 3.80801823e-01 -9.24645013e-01 -4.64453740e-03 3.35482289e+02] [ 9.24578620e-01 3.80830139e-01 -1.10806714e-02 1.89618125e+02] [ 1.20144674e-02 -7.47001046e-05 9.99927821e-01 4.77074230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90028169299995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:335.51, Y:189.67, Z:4.77 [[ 3.79185892e-01 -9.25308875e-01 -4.64166022e-03 3.35510010e+02] [ 9.25242517e-01 3.79214289e-01 -1.10818765e-02 1.89667000e+02] [ 1.20143426e-02 -9.25701446e-05 9.99927821e-01 4.76975854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:335.53, Y:189.72, Z:4.77 [[ 3.81831647e-01 -9.24220253e-01 -4.63868895e-03 3.35534578e+02] [ 9.24153799e-01 3.81859818e-01 -1.10831201e-02 1.89716228e+02] [ 1.20145730e-02 -5.49760199e-05 9.99927821e-01 4.76916198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02028169299996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:335.56, Y:189.77, Z:4.77 [[ 3.92039414e-01 -9.19936742e-01 -4.63561253e-03 3.35557407e+02] [ 9.19869964e-01 3.92066812e-01 -1.10844067e-02 1.89766635e+02] [ 1.20144228e-02 8.13635774e-05 9.99927821e-01 4.77344001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08028169299996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:335.58, Y:189.82, Z:4.78 [[ 3.98505425e-01 -9.17154275e-01 -4.63282920e-03 3.35577469e+02] [ 9.17087292e-01 3.98532318e-01 -1.10855699e-02 1.89818634e+02] [ 1.20135100e-02 1.68950956e-04 9.99927821e-01 4.77517126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14028169299996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:335.60, Y:189.87, Z:4.78 [[ 4.00638811e-01 -9.16224375e-01 -4.62999813e-03 3.35600011e+02] [ 9.16157317e-01 4.00665514e-01 -1.10867522e-02 1.89867756e+02] [ 1.20130332e-02 1.99976546e-04 9.99927821e-01 4.77668198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20028169299997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:335.62, Y:189.92, Z:4.78 [[ 3.99615390e-01 -9.16671222e-01 -4.62707548e-03 3.35622335e+02] [ 9.16604180e-01 3.99642133e-01 -1.10879718e-02 1.89918358e+02] [ 1.20131990e-02 1.89727460e-04 9.99927821e-01 4.77874080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26028169299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:335.64, Y:189.97, Z:4.78 [[ 4.02186140e-01 -9.15546244e-01 -4.62421190e-03 3.35641689e+02] [ 9.15479114e-01 4.02212659e-01 -1.10891659e-02 1.89969308e+02] [ 1.20125608e-02 2.26539437e-04 9.99927821e-01 4.77910535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32028169299997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:335.66, Y:190.02, Z:4.78 [[ 4.04023646e-01 -9.14736868e-01 -4.62123534e-03 3.35661017e+02] [ 9.14669670e-01 4.04049995e-01 -1.10904062e-02 1.90021250e+02] [ 1.20120136e-02 2.53882574e-04 9.99927821e-01 4.78083598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.380281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:335.68, Y:190.07, Z:4.78 [[ 4.06401950e-01 -9.13682727e-01 -4.61838700e-03 3.35676470e+02] [ 9.13615447e-01 4.06428088e-01 -1.10915923e-02 1.90073691e+02] [ 1.20112385e-02 2.88215008e-04 9.99927821e-01 4.78196398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.440281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:335.69, Y:190.13, Z:4.78 [[ 4.05981845e-01 -9.13869487e-01 -4.61545022e-03 3.35693200e+02] [ 9.13802206e-01 4.06007979e-01 -1.10928142e-02 1.90127219e+02] [ 1.20112940e-02 2.85872567e-04 9.99927821e-01 4.77936187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.500281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:335.71, Y:190.18, Z:4.78 [[ 4.03590565e-01 -9.14928073e-01 -4.61267100e-03 3.35706099e+02] [ 9.14860847e-01 4.03616841e-01 -1.10939697e-02 1.90180469e+02] [ 1.20119360e-02 2.57469417e-04 9.99927821e-01 4.78096431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.560281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:335.72, Y:190.23, Z:4.78 [[ 4.02012912e-01 -9.15622394e-01 -4.60979266e-03 3.35723947e+02] [ 9.15555200e-01 4.02039269e-01 -1.10951656e-02 1.90232621e+02] [ 1.20122998e-02 2.39880195e-04 9.99927821e-01 4.78428712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.620281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:335.74, Y:190.29, Z:4.79 [[ 4.01074318e-01 -9.16033933e-01 -4.60705723e-03 3.35738994e+02] [ 9.15966753e-01 4.01100711e-01 -1.10963013e-02 1.90286478e+02] [ 1.20124825e-02 2.30530235e-04 9.99927821e-01 4.78623936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.680281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:335.75, Y:190.34, Z:4.78 [[ 4.00847834e-01 -9.16133077e-01 -4.60419863e-03 3.35753855e+02] [ 9.16065890e-01 4.00874209e-01 -1.10974873e-02 1.90339462e+02] [ 1.20124797e-02 2.30654441e-04 9.99927821e-01 4.78361444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.740281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:335.77, Y:190.39, Z:4.79 [[ 3.97438722e-01 -9.17617181e-01 -4.60124093e-03 3.35769576e+02] [ 9.17550078e-01 3.97465311e-01 -1.10987135e-02 1.90391850e+02] [ 1.20132039e-02 1.89189538e-04 9.99927821e-01 4.78528384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.800281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:335.79, Y:190.44, Z:4.79 [[ 3.96492992e-01 -9.18026232e-01 -4.59840294e-03 3.35788415e+02] [ 9.17959142e-01 3.96519616e-01 -1.10998892e-02 1.90444399e+02] [ 1.20133464e-02 1.79882273e-04 9.99927821e-01 4.78768980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86028169299993 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:335.80, Y:190.50, Z:4.79 [[ 3.98919778e-01 -9.16974314e-01 -4.59551352e-03 3.35802562e+02] [ 9.16907140e-01 3.98946189e-01 -1.11010854e-02 1.90497358e+02] [ 1.20127727e-02 2.14783342e-04 9.99927821e-01 4.78998210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:335.82, Y:190.55, Z:4.79 [[ 4.00407680e-01 -9.16325596e-01 -4.59254023e-03 3.35816250e+02] [ 9.16258366e-01 4.00433946e-01 -1.11023153e-02 1.90551362e+02] [ 1.20123447e-02 2.37498888e-04 9.99927821e-01 4.79119924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98028169299994 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:335.83, Y:190.60, Z:4.79 [[ 4.01112830e-01 -9.16017157e-01 -4.58970544e-03 3.35831433e+02] [ 9.15949893e-01 4.01139010e-01 -1.11034871e-02 1.90604574e+02] [ 1.20120945e-02 2.49810900e-04 9.99927821e-01 4.78929646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04028169299994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:335.84, Y:190.66, Z:4.79 [[ 3.99818461e-01 -9.16582871e-01 -4.58677839e-03 3.35844142e+02] [ 9.16515630e-01 3.99844701e-01 -1.11046961e-02 1.90659814e+02] [ 1.20123732e-02 2.36008410e-04 9.99927821e-01 4.78906330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:335.86, Y:190.71, Z:4.79 [[ 3.98564181e-01 -9.17128988e-01 -4.58400876e-03 3.35858455e+02] [ 9.17061770e-01 3.98590479e-01 -1.11058393e-02 1.90713699e+02] [ 1.20126294e-02 2.22570538e-04 9.99927821e-01 4.78816347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:335.87, Y:190.77, Z:4.79 [[ 3.97427182e-01 -9.17622279e-01 -4.58122110e-03 3.35873411e+02] [ 9.17555081e-01 3.97453530e-01 -1.11069891e-02 1.90767671e+02] [ 1.20128431e-02 2.10696664e-04 9.99927821e-01 4.78826515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22028169299995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:335.89, Y:190.82, Z:4.79 [[ 3.96585679e-01 -9.17986295e-01 -4.57841637e-03 3.35891459e+02] [ 9.17919107e-01 3.96612054e-01 -1.11081451e-02 1.90819946e+02] [ 1.20129801e-02 2.02715390e-04 9.99927821e-01 4.78855279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.91, Y:190.87, Z:4.79 [[ 3.94475147e-01 -9.18895218e-01 -4.57562083e-03 3.35909860e+02] [ 9.18828078e-01 3.94501643e-01 -1.11092965e-02 1.90871101e+02] [ 1.20133694e-02 1.78132470e-04 9.99927821e-01 4.78965990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34028169299995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.93, Y:190.92, Z:4.79 [[ 3.90997346e-01 -9.20380446e-01 -4.57272269e-03 3.35926222e+02] [ 9.20313393e-01 3.91024061e-01 -1.11104893e-02 1.90923512e+02] [ 1.20139217e-02 1.35833888e-04 9.99927821e-01 4.78737125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40028169299995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:335.94, Y:190.98, Z:4.79 [[ 3.91335721e-01 -9.20236638e-01 -4.56987308e-03 3.35939506e+02] [ 9.20169561e-01 3.91362376e-01 -1.11116612e-02 1.90978431e+02] [ 1.20138342e-02 1.43331846e-04 9.99927821e-01 4.79143834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46028169299996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:335.95, Y:191.03, Z:4.80 [[ 3.95033069e-01 -9.18655548e-01 -4.56716553e-03 3.35953183e+02] [ 9.18588351e-01 3.95059422e-01 -1.11127740e-02 1.91033137e+02] [ 1.20131132e-02 1.94568151e-04 9.99927821e-01 4.79708236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:335.96, Y:191.09, Z:4.79 [[ 4.00326460e-01 -9.16361224e-01 -4.56425848e-03 3.35959197e+02] [ 9.16293863e-01 4.00352389e-01 -1.11139678e-02 1.91089054e+02] [ 1.20117210e-02 2.67013360e-04 9.99927821e-01 4.79481314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.96, Y:191.15, Z:4.80 [[ 4.01197806e-01 -9.15980085e-01 -4.56125233e-03 3.35964819e+02] [ 9.15912685e-01 4.01223635e-01 -1.11152014e-02 1.91147507e+02] [ 1.20113854e-02 2.81685560e-04 9.99927821e-01 4.79540219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.98, Y:191.20, Z:4.79 [[ 3.97251478e-01 -9.17698470e-01 -4.55857521e-03 3.35979179e+02] [ 9.17631170e-01 3.97277565e-01 -1.11162993e-02 1.91200049e+02] [ 1.20124305e-02 2.32875616e-04 9.99927821e-01 4.79433310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70028169299997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:335.99, Y:191.25, Z:4.79 [[ 3.87463594e-01 -9.21873747e-01 -4.55608702e-03 3.35993143e+02] [ 9.21806716e-01 3.87490365e-01 -1.11173190e-02 1.91254181e+02] [ 1.20142043e-02 1.07724753e-04 9.99927821e-01 4.79310917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76028169299997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:336.01, Y:191.31, Z:4.80 [[ 3.80530762e-01 -9.24757053e-01 -4.55317821e-03 3.36013427e+02] [ 9.24690211e-01 3.80558001e-01 -1.11185102e-02 1.91305608e+02] [ 1.20146691e-02 2.06558382e-05 9.99927821e-01 4.79648682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82028169299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.03, Y:191.36, Z:4.80 [[ 3.74508199e-01 -9.27212437e-01 -4.55031756e-03 3.36033845e+02] [ 9.27145759e-01 3.74535837e-01 -1.11196808e-02 1.91357066e+02] [ 1.20145633e-02 -5.43959974e-05 9.99927821e-01 4.79603878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.880281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.06, Y:191.41, Z:4.79 [[ 3.72985625e-01 -9.27825978e-01 -4.54739427e-03 3.36057563e+02] [ 9.27759331e-01 3.73013337e-01 -1.11208762e-02 1.91406403e+02] [ 1.20144765e-02 -7.09605291e-05 9.99927821e-01 4.79322405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.940281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.08, Y:191.46, Z:4.79 [[ 3.73949674e-01 -9.27437860e-01 -4.54494928e-03 3.36081408e+02] [ 9.27371173e-01 3.73977288e-01 -1.11218753e-02 1.91456827e+02] [ 1.20145560e-02 -5.58333084e-05 9.99927821e-01 4.79476458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.000281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:336.11, Y:191.51, Z:4.80 [[ 3.76461996e-01 -9.26420928e-01 -4.54205676e-03 3.36105158e+02] [ 9.26354151e-01 3.76489395e-01 -1.11230564e-02 1.91506216e+02] [ 1.20146685e-02 -2.01451054e-05 9.99927821e-01 4.79881717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.060281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.13, Y:191.56, Z:4.80 [[ 3.75462358e-01 -9.26826529e-01 -4.53905624e-03 3.36125892e+02] [ 9.26759767e-01 3.75489793e-01 -1.11242808e-02 1.91557162e+02] [ 1.20146478e-02 -2.98660184e-05 9.99927821e-01 4.79962101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.120281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.15, Y:191.61, Z:4.80 [[ 3.70904798e-01 -9.28659816e-01 -4.53612604e-03 3.36150161e+02] [ 9.28593175e-01 3.70932526e-01 -1.11254755e-02 1.91606713e+02] [ 1.20143787e-02 -8.57234532e-05 9.99927821e-01 4.80245844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.180281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:336.17, Y:191.66, Z:4.80 [[ 3.66301820e-01 -9.30485049e-01 -4.53322564e-03 3.36174457e+02] [ 9.30418532e-01 3.66329842e-01 -1.11266571e-02 1.91656566e+02] [ 1.20138440e-02 -1.42082383e-04 9.99927821e-01 4.80397048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.240281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.20, Y:191.71, Z:4.80 [[ 3.64805912e-01 -9.31072566e-01 -4.53032664e-03 3.36197210e+02] [ 9.31006079e-01 3.64834006e-01 -1.11278374e-02 1.91706219e+02] [ 1.20136413e-02 -1.58260780e-04 9.99927821e-01 4.80258359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.300281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.22, Y:191.76, Z:4.80 [[ 3.65077634e-01 -9.30966071e-01 -4.52733228e-03 3.36221680e+02] [ 9.30899561e-01 3.65105673e-01 -1.11290555e-02 1.91756438e+02] [ 1.20137278e-02 -1.51522389e-04 9.99927821e-01 4.79991439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.36028169299993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.25, Y:191.80, Z:4.80 [[ 3.64704480e-01 -9.31112330e-01 -4.52448111e-03 3.36251982e+02] [ 9.31045817e-01 3.64732512e-01 -1.11302145e-02 1.91803930e+02] [ 1.20137053e-02 -1.53260110e-04 9.99927821e-01 4.80055825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.42028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.28, Y:191.85, Z:4.80 [[ 3.63904009e-01 -9.31425481e-01 -4.52163810e-03 3.36277498e+02] [ 9.31358978e-01 3.63932064e-01 -1.11313694e-02 1.91852522e+02] [ 1.20136101e-02 -1.60518303e-04 9.99927821e-01 4.79944942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.48028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.31, Y:191.90, Z:4.80 [[ 3.65989417e-01 -9.30608042e-01 -4.51868908e-03 3.36305623e+02] [ 9.30541461e-01 3.66017288e-01 -1.11325664e-02 1.91901147e+02] [ 1.20139741e-02 -1.30426065e-04 9.99927821e-01 4.79856118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.33, Y:191.95, Z:4.80 [[ 3.67192643e-01 -9.30133953e-01 -4.51590768e-03 3.36330827e+02] [ 9.30067322e-01 3.67220394e-01 -1.11336945e-02 1.91950686e+02] [ 1.20141607e-02 -1.11887457e-04 9.99927821e-01 4.80054748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60028169299994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.36, Y:192.00, Z:4.80 [[ 3.68991486e-01 -9.29421818e-01 -4.51313906e-03 3.36357676e+02] [ 9.29355119e-01 3.69019075e-01 -1.11348167e-02 1.91998658e+02] [ 1.20143760e-02 -8.56563385e-05 9.99927821e-01 4.79976968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:336.38, Y:192.05, Z:4.80 [[ 3.70581339e-01 -9.28789066e-01 -4.51026362e-03 3.36382645e+02] [ 9.28722307e-01 3.70608779e-01 -1.11359813e-02 1.92047987e+02] [ 1.20145210e-02 -6.19955782e-05 9.99927821e-01 4.79955980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72028169299995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:336.41, Y:192.10, Z:4.80 [[ 3.75678341e-01 -9.26739158e-01 -4.50754966e-03 3.36406761e+02] [ 9.26672235e-01 3.75705382e-01 -1.11370797e-02 1.92096199e+02] [ 1.20146785e-02 6.93851560e-06 9.99927821e-01 4.80015734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:336.43, Y:192.14, Z:4.80 [[ 3.84970726e-01 -9.22917792e-01 -4.50447037e-03 3.36428249e+02] [ 9.22850586e-01 3.84997056e-01 -1.11383250e-02 1.92144977e+02] [ 1.20139662e-02 1.30975945e-04 9.99927821e-01 4.80328382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84028169299995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:336.45, Y:192.20, Z:4.81 [[ 3.91976259e-01 -9.19964320e-01 -4.50143572e-03 3.36447820e+02] [ 9.19896902e-01 3.92002041e-01 -1.11395513e-02 1.92196700e+02] [ 1.20125617e-02 2.25582875e-04 9.99927821e-01 4.80919124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90028169299995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:336.47, Y:192.25, Z:4.81 [[ 3.98907440e-01 -9.16980162e-01 -4.49853952e-03 3.36465860e+02] [ 9.16912539e-01 3.98932677e-01 -1.11407208e-02 1.92248389e+02] [ 1.20104343e-02 3.19349118e-04 9.99927821e-01 4.81255071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96028169299996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:336.48, Y:192.30, Z:4.81 [[ 4.02296009e-01 -9.15498613e-01 -4.49554764e-03 3.36480707e+02] [ 9.15430884e-01 4.02320959e-01 -1.11419279e-02 1.92301365e+02] [ 1.20090726e-02 3.66989998e-04 9.99927821e-01 4.81056874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02028169299996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:336.49, Y:192.36, Z:4.81 [[ 4.06513522e-01 -9.13633719e-01 -4.49261245e-03 3.36493339e+02] [ 9.13565862e-01 4.06538124e-01 -1.11431113e-02 1.92356314e+02] [ 1.20071405e-02 4.25528059e-04 9.99927821e-01 4.81185366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08028169299996 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:336.50, Y:192.41, Z:4.82 [[ 4.08989162e-01 -9.12528196e-01 -4.48971794e-03 3.36504103e+02] [ 9.12460260e-01 4.09013544e-01 -1.11442774e-02 1.92412120e+02] [ 1.20058228e-02 4.61199496e-04 9.99927821e-01 4.81750353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14028169299996 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:336.52, Y:192.47, Z:4.82 [[ 4.09465377e-01 -9.12314624e-01 -4.48684587e-03 3.36521804e+02] [ 9.12246663e-01 4.09489689e-01 -1.11454337e-02 1.92465605e+02] [ 1.20054592e-02 4.70559023e-04 9.99927821e-01 4.81679331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20028169299997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:336.54, Y:192.52, Z:4.81 [[ 4.08189651e-01 -9.12886138e-01 -4.48421759e-03 3.36536287e+02] [ 9.12818199e-01 4.08214026e-01 -1.11464910e-02 1.92518279e+02] [ 1.20059976e-02 4.56606857e-04 9.99927821e-01 4.81267102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26028169299997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:336.55, Y:192.57, Z:4.81 [[ 4.04960299e-01 -9.14323288e-01 -4.48121972e-03 3.36549918e+02] [ 9.14255423e-01 4.04984877e-01 -1.11476961e-02 1.92572092e+02] [ 1.20074244e-02 4.17394921e-04 9.99927821e-01 4.81253451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.32028169299997 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:336.56, Y:192.63, Z:4.82 [[ 4.02294978e-01 -9.15499151e-01 -4.47837082e-03 3.36563346e+02] [ 9.15431345e-01 4.02319719e-01 -1.11488405e-02 1.92627400e+02] [ 1.20084909e-02 3.85481510e-04 9.99927821e-01 4.81502294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.380281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:336.58, Y:192.68, Z:4.82 [[ 3.99759922e-01 -9.16608954e-01 -4.47562239e-03 3.36578273e+02] [ 9.16541204e-01 3.99784817e-01 -1.11499437e-02 1.92681248e+02] [ 1.20094241e-02 3.55208288e-04 9.99927821e-01 4.81644693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.440281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:336.59, Y:192.73, Z:4.82 [[ 3.93767849e-01 -9.19199037e-01 -4.47342952e-03 3.36592059e+02] [ 9.19131441e-01 3.93793159e-01 -1.11508234e-02 1.92733996e+02] [ 1.20114321e-02 2.79166031e-04 9.99927821e-01 4.81670175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.500281693 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:336.60, Y:192.79, Z:4.82 [[ 3.88818000e-01 -9.21303736e-01 -4.47093710e-03 3.36604728e+02] [ 9.21236266e-01 3.88843643e-01 -1.11518227e-02 1.92789398e+02] [ 1.20127114e-02 2.17239992e-04 9.99927821e-01 4.81610263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.560281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:336.62, Y:192.84, Z:4.82 [[ 3.85446488e-01 -9.22719372e-01 -4.46816235e-03 3.36619357e+02] [ 9.22651984e-01 3.85472345e-01 -1.11529343e-02 1.92842747e+02] [ 1.20133816e-02 1.76300512e-04 9.99927821e-01 4.81594051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.620281693 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:336.63, Y:192.90, Z:4.82 [[ 3.81654428e-01 -9.24294303e-01 -4.46529488e-03 3.36627824e+02] [ 9.24227008e-01 3.81680527e-01 -1.11540823e-02 1.92899262e+02] [ 1.20139708e-02 1.30058760e-04 9.99927821e-01 4.81569335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.680281693 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:336.64, Y:192.95, Z:4.82 [[ 3.74919109e-01 -9.27046789e-01 -4.46238083e-03 3.36642123e+02] [ 9.26979671e-01 3.74945662e-01 -1.11552480e-02 1.92954599e+02] [ 1.20145871e-02 4.57793139e-05 9.99927821e-01 4.81654782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.740281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:336.66, Y:193.01, Z:4.82 [[ 3.69298393e-01 -9.29300172e-01 -4.45965297e-03 3.36657155e+02] [ 9.29233203e-01 3.69325318e-01 -1.11563384e-02 1.93008468e+02] [ 1.20146499e-02 -2.40397811e-05 9.99927821e-01 4.81622915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.800281693 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:336.67, Y:193.06, Z:4.82 [[ 3.63657158e-01 -9.31522200e-01 -4.45683674e-03 3.36674511e+02] [ 9.31455382e-01 3.63684455e-01 -1.11574633e-02 1.93060904e+02] [ 1.20143070e-02 -9.38531638e-05 9.99927821e-01 4.81908227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86028169299993 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:336.69, Y:193.11, Z:4.82 [[ 3.61684543e-01 -9.32289897e-01 -4.45406596e-03 3.36694745e+02] [ 9.32223124e-01 3.61711949e-01 -1.11585693e-02 1.93112961e+02] [ 1.20141103e-02 -1.16301234e-04 9.99927821e-01 4.82241735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92028169299994 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:336.72, Y:193.16, Z:4.82 [[ 3.58979373e-01 -9.33334878e-01 -4.45142696e-03 3.36717385e+02] [ 9.33268171e-01 3.59006940e-01 -1.11596220e-02 1.93163343e+02] [ 1.20137576e-02 -1.48301001e-04 9.99927821e-01 4.82228287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98028169299994 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:336.74, Y:193.21, Z:4.82 [[ 3.54843401e-01 -9.34915164e-01 -4.44933811e-03 3.36742293e+02] [ 9.34848569e-01 3.54871239e-01 -1.11604547e-02 1.93213023e+02] [ 1.20130205e-02 -1.99243643e-04 9.99927821e-01 4.81851967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.04028169299994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:336.77, Y:193.26, Z:4.82 [[ 3.49133073e-01 -9.37062605e-01 -4.44648991e-03 3.36772721e+02] [ 9.36996167e-01 3.49161283e-01 -1.11615894e-02 1.93260989e+02] [ 1.20116502e-02 -2.69464004e-04 9.99927821e-01 4.81757259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.10028169299994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:336.80, Y:193.31, Z:4.82 [[ 3.46435628e-01 -9.38063222e-01 -4.44368424e-03 3.36798674e+02] [ 9.37996852e-01 3.46463996e-01 -1.11627063e-02 1.93310473e+02] [ 1.20109008e-02 -3.01002655e-04 9.99927821e-01 4.81950125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.16028169299994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:336.83, Y:193.36, Z:4.82 [[ 3.46489624e-01 -9.38043293e-01 -4.44090360e-03 3.36831160e+02] [ 9.37976906e-01 3.46517955e-01 -1.11638124e-02 1.93356703e+02] [ 1.20109922e-02 -2.97319856e-04 9.99927821e-01 4.81814311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.22028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:336.86, Y:193.41, Z:4.82 [[ 3.47854157e-01 -9.37538154e-01 -4.43802068e-03 3.36858900e+02] [ 9.37471712e-01 3.47882356e-01 -1.11649584e-02 1.93405163e+02] [ 1.20114835e-02 -2.76741667e-04 9.99927821e-01 4.81943815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.28028169299995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:336.89, Y:193.45, Z:4.82 [[ 3.55379335e-01 -9.34711643e-01 -4.43529273e-03 3.36890777e+02] [ 9.34644963e-01 3.55406967e-01 -1.11660419e-02 1.93452591e+02] [ 1.20133633e-02 -1.77243457e-04 9.99927821e-01 4.82068656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.34028169299995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:336.92, Y:193.50, Z:4.82 [[ 3.67330864e-01 -9.30079776e-01 -4.43258113e-03 3.36919021e+02] [ 9.30012734e-01 3.67357606e-01 -1.11671183e-02 1.93500689e+02] [ 1.20146532e-02 -2.03296992e-05 9.99927821e-01 4.82269482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.40028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:336.94, Y:193.55, Z:4.82 [[ 3.74587521e-01 -9.27180978e-01 -4.42972076e-03 3.36944692e+02] [ 9.27113716e-01 3.74613704e-01 -1.11682528e-02 1.93549850e+02] [ 1.20144256e-02 7.66332456e-05 9.99927821e-01 4.82467821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.46028169299996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:336.97, Y:193.60, Z:4.82 [[ 3.85092936e-01 -9.22867181e-01 -4.42685589e-03 3.36970280e+02] [ 9.22799613e-01 3.85118319e-01 -1.11693882e-02 1.93597933e+02] [ 1.20127251e-02 2.16151601e-04 9.99927821e-01 4.82495888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.52028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.00, Y:193.65, Z:4.83 [[ 3.89537645e-01 -9.20999920e-01 -4.42388226e-03 3.36996551e+02] [ 9.20932217e-01 3.89562666e-01 -1.11705659e-02 1.93647323e+02] [ 1.20114696e-02 2.77260228e-04 9.99927821e-01 4.82615072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.58028169299996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:337.02, Y:193.70, Z:4.82 [[ 3.93206536e-01 -9.19439543e-01 -4.42112436e-03 3.37016374e+02] [ 9.19371729e-01 3.93231253e-01 -1.11716573e-02 1.93698648e+02] [ 1.20101878e-02 3.28111923e-04 9.99927821e-01 4.82467218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.64028169299996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:337.03, Y:193.75, Z:4.83 [[ 3.95516042e-01 -9.18448441e-01 -4.41838467e-03 3.37034799e+02] [ 9.18380552e-01 3.95540556e-01 -1.11727407e-02 1.93750750e+02] [ 1.20092366e-02 3.61239652e-04 9.99927821e-01 4.82536621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.70028169299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:337.05, Y:193.80, Z:4.83 [[ 3.91408333e-01 -9.20206509e-01 -4.41561061e-03 3.37050544e+02] [ 9.20138719e-01 3.91433116e-01 -1.11738370e-02 1.93802957e+02] [ 1.20106537e-02 3.10558606e-04 9.99927821e-01 4.82534438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.76028169299997 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:337.07, Y:193.86, Z:4.82 [[ 3.86744978e-01 -9.22176147e-01 -4.41326186e-03 3.37068306e+02] [ 9.22108472e-01 3.86770075e-01 -1.11747646e-02 1.93856104e+02] [ 1.20120190e-02 2.52277930e-04 9.99927821e-01 4.82200123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.82028169299997 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:337.08, Y:193.91, Z:4.83 [[ 3.80204192e-01 -9.24892058e-01 -4.41051857e-03 3.37083637e+02] [ 9.24824550e-01 3.80229735e-01 -1.11758472e-02 1.93908725e+02] [ 1.20134626e-02 1.70148112e-04 9.99927821e-01 4.82691842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.880281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:337.10, Y:193.96, Z:4.83 [[ 3.78542852e-01 -9.25573272e-01 -4.40768068e-03 3.37100987e+02] [ 9.25505797e-01 3.78568482e-01 -1.11769663e-02 1.93961106e+02] [ 1.20137103e-02 1.51626697e-04 9.99927821e-01 4.83025027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.940281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:337.12, Y:194.01, Z:4.83 [[ 3.77625571e-01 -9.25947906e-01 -4.40487966e-03 3.37118604e+02] [ 9.25880444e-01 3.77651234e-01 -1.11780701e-02 1.94014013e+02] [ 1.20138189e-02 1.42733183e-04 9.99927821e-01 4.82715245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.000281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:337.14, Y:194.07, Z:4.82 [[ 3.76444096e-01 -9.26428877e-01 -4.40203759e-03 3.37137027e+02] [ 9.26361435e-01 3.76469811e-01 -1.11791892e-02 1.94065383e+02] [ 1.20139580e-02 1.30461929e-04 9.99927821e-01 4.82394249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.060281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:337.16, Y:194.12, Z:4.82 [[ 3.75185710e-01 -9.26939227e-01 -4.39909975e-03 3.37155061e+02] [ 9.26871806e-01 3.75211481e-01 -1.11803452e-02 1.94116741e+02] [ 1.20140933e-02 1.17304224e-04 9.99927821e-01 4.82461307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.120281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:337.17, Y:194.17, Z:4.83 [[ 3.72778725e-01 -9.27909853e-01 -4.39624601e-03 3.37173759e+02] [ 9.27842485e-01 3.72804637e-01 -1.11814672e-02 1.94169420e+02] [ 1.20143345e-02 8.91892651e-05 9.99927821e-01 4.82573672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.180281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:337.19, Y:194.22, Z:4.83 [[ 3.67739812e-01 -9.29918345e-01 -4.39347592e-03 3.37190784e+02] [ 9.29851106e-01 3.67766055e-01 -1.11825555e-02 1.94222237e+02] [ 1.20146348e-02 2.69924295e-05 9.99927821e-01 4.82551563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.240281693 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:337.21, Y:194.27, Z:4.83 [[ 3.64721614e-01 -9.31106259e-01 -4.39072552e-03 3.37209956e+02] [ 9.31039093e-01 3.64748042e-01 -1.11836353e-02 1.94274538e+02] [ 1.20146614e-02 -9.02357283e-06 9.99927821e-01 4.82704239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.300281693 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:337.23, Y:194.33, Z:4.83 [[ 3.61479964e-01 -9.32369552e-01 -4.38798837e-03 3.37230684e+02] [ 9.32302465e-01 3.61506593e-01 -1.11847092e-02 1.94325093e+02] [ 1.20145690e-02 -4.78840923e-05 9.99927821e-01 4.82781131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.36028169299993 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:337.25, Y:194.37, Z:4.83 [[ 3.56813842e-01 -9.34165215e-01 -4.38563031e-03 3.37254916e+02] [ 9.34098250e-01 3.56840778e-01 -1.11856337e-02 1.94374771e+02] [ 1.20142017e-02 -1.05420647e-04 9.99927821e-01 4.82642137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.42028169299994 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:337.28, Y:194.42, Z:4.83 [[ 3.53862804e-01 -9.35287072e-01 -4.38285306e-03 3.37278085e+02] [ 9.35220179e-01 3.53889918e-01 -1.11867218e-02 1.94424488e+02] [ 1.20138438e-02 -1.40367861e-04 9.99927821e-01 4.82806671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.48028169299994 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:337.31, Y:194.47, Z:4.83 [[ 3.50563146e-01 -9.36528855e-01 -4.37997218e-03 3.37306878e+02] [ 9.36462044e-01 3.50590461e-01 -1.11878497e-02 1.94472678e+02] [ 1.20133205e-02 -1.79629918e-04 9.99927821e-01 4.82945740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.54028169299994 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:337.33, Y:194.52, Z:4.83 [[ 3.50664376e-01 -9.36490969e-01 -4.37723268e-03 3.37333675e+02] [ 9.36424142e-01 3.50691651e-01 -1.11889214e-02 1.94522272e+02] [ 1.20133828e-02 -1.75390213e-04 9.99927821e-01 4.82880391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.60028169299994 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:337.36, Y:194.57, Z:4.83 [[ 3.51076249e-01 -9.36336655e-01 -4.37450974e-03 3.37359142e+02] [ 9.36269802e-01 3.51103462e-01 -1.11899859e-02 1.94570307e+02] [ 1.20134995e-02 -1.67183098e-04 9.99927821e-01 4.83008935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.66028169299994 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:337.39, Y:194.62, Z:4.83 [[ 3.52044654e-01 -9.35972998e-01 -4.37139443e-03 3.37385081e+02] [ 9.35906102e-01 3.52071760e-01 -1.11912028e-02 1.94617828e+02] [ 1.20137081e-02 -1.51411622e-04 9.99927821e-01 4.83334268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.72028169299995 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:337.41, Y:194.67, Z:4.83 [[ 3.54819877e-01 -9.34924474e-01 -4.36835471e-03 3.37411993e+02] [ 9.34857484e-01 3.54846749e-01 -1.11923891e-02 1.94666099e+02] [ 1.20141350e-02 -1.12506950e-04 9.99927821e-01 4.83238925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.78028169299995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:337.43, Y:194.72, Z:4.83 [[ 3.58084190e-01 -9.33679096e-01 -4.36550998e-03 3.37433227e+02] [ 9.33611999e-01 3.58110794e-01 -1.11934986e-02 1.94717359e+02] [ 1.20144719e-02 -6.74776132e-05 9.99927821e-01 4.83150101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.84028169299995 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:337.46, Y:194.77, Z:4.84 [[ 3.65423807e-01 -9.30831031e-01 -4.36261453e-03 3.37459341e+02] [ 9.30763713e-01 3.65449847e-01 -1.11946270e-02 1.94766479e+02] [ 1.20146230e-02 3.02199113e-05 9.99927821e-01 4.83826207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.90028169299995 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:337.48, Y:194.82, Z:4.84 [[ 3.69143424e-01 -9.29362214e-01 -4.35970081e-03 3.37481346e+02] [ 9.29294779e-01 3.69169159e-01 -1.11957616e-02 1.94816999e+02] [ 1.20143849e-02 8.13945699e-05 9.99927821e-01 4.83752926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.96028169299996 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:337.51, Y:194.87, Z:4.83 [[ 3.74155214e-01 -9.27355862e-01 -4.35679377e-03 3.37505347e+02] [ 9.27288276e-01 3.74180549e-01 -1.11968927e-02 1.94867341e+02] [ 1.20137316e-02 1.49372017e-04 9.99927821e-01 4.83461006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.02028169299996 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:337.52, Y:194.92, Z:4.84 [[ 3.79649975e-01 -9.25119960e-01 -4.35387912e-03 3.37524923e+02] [ 9.25052212e-01 3.79674873e-01 -1.11980260e-02 1.94919093e+02] [ 1.20125759e-02 2.23764774e-04 9.99927821e-01 4.84261038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.08028169299996 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:337.54, Y:194.97, Z:4.84 [[ 3.83841313e-01 -9.23388822e-01 -4.35092951e-03 3.37542993e+02] [ 9.23320948e-01 3.83865868e-01 -1.11991719e-02 1.94970599e+02] [ 1.20113635e-02 2.81400493e-04 9.99927821e-01 4.84239288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.14028169299996 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:337.56, Y:195.02, Z:4.84 [[ 3.89558589e-01 -9.20991423e-01 -4.34789701e-03 3.37556640e+02] [ 9.20923386e-01 3.89582687e-01 -1.12003491e-02 1.95023956e+02] [ 1.20092909e-02 3.59112171e-04 9.99927821e-01 4.84100861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.20028169299997 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:337.57, Y:195.08, Z:4.84 [[ 3.89065656e-01 -9.21199779e-01 -4.34544333e-03 3.37571594e+02] [ 9.21131744e-01 3.89089760e-01 -1.12013010e-02 1.95078134e+02] [ 1.20094035e-02 3.55315728e-04 9.99927821e-01 4.84171785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.26028169299997 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:337.59, Y:195.13, Z:4.84 [[ 3.84166790e-01 -9.23253497e-01 -4.34261534e-03 3.37589806e+02] [ 9.23185579e-01 3.84191220e-01 -1.12023973e-02 1.95131082e+02] [ 1.20110471e-02 2.94549142e-04 9.99927821e-01 4.84139261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.32028169299997 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:337.61, Y:195.18, Z:4.84 [[ 3.76128480e-01 -9.26557355e-01 -4.33979148e-03 3.37610852e+02] [ 9.26489639e-01 3.76153466e-01 -1.12034911e-02 1.95181365e+02] [ 1.20131047e-02 1.93180242e-04 9.99927821e-01 4.84217218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.380281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:337.63, Y:195.23, Z:4.84 [[ 3.72004043e-01 -9.28220978e-01 -4.33685494e-03 3.37632524e+02] [ 9.28153361e-01 3.72029294e-01 -1.12046277e-02 1.95232960e+02] [ 1.20138076e-02 1.42900327e-04 9.99927821e-01 4.84232479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.440281693 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:337.65, Y:195.28, Z:4.84 [[ 3.68376810e-01 -9.29666468e-01 -4.33407350e-03 3.37654951e+02] [ 9.29598937e-01 3.68402292e-01 -1.12057035e-02 1.95282218e+02] [ 1.20142494e-02 9.89712064e-05 9.99927821e-01 4.84176615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.500281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:337.68, Y:195.33, Z:4.84 [[ 3.64969387e-01 -9.31009445e-01 -4.33119349e-03 3.37679550e+02] [ 9.30941995e-01 3.64995082e-01 -1.12068166e-02 1.95332141e+02] [ 1.20145164e-02 5.80550761e-05 9.99927821e-01 4.84068923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.560281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:337.70, Y:195.38, Z:4.84 [[ 3.62362137e-01 -9.32027332e-01 -4.32831272e-03 3.37702062e+02] [ 9.31959940e-01 3.62387985e-01 -1.12079291e-02 1.95382263e+02] [ 1.20146248e-02 2.75150783e-05 9.99927821e-01 4.84206291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.620281693 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:337.72, Y:195.43, Z:4.85 [[ 3.60797564e-01 -9.32634124e-01 -4.32532413e-03 3.37722751e+02] [ 9.32566762e-01 3.60823489e-01 -1.12090823e-02 1.95432726e+02] [ 1.20146512e-02 1.05560768e-05 9.99927821e-01 4.84501577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.680281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:337.74, Y:195.48, Z:4.85 [[ 3.62809590e-01 -9.31853271e-01 -4.32241899e-03 3.37742815e+02] [ 9.31785840e-01 3.62835335e-01 -1.12102025e-02 1.95484342e+02] [ 1.20145902e-02 3.96001628e-05 9.99927821e-01 4.84532001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.740281693 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:337.76, Y:195.54, Z:4.85 [[ 3.64316156e-01 -9.31265312e-01 -4.31950877e-03 3.37762527e+02] [ 9.31197826e-01 3.64341756e-01 -1.12113237e-02 1.95536114e+02] [ 1.20144943e-02 6.21491888e-05 9.99927821e-01 4.84606425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.800281693 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:337.78, Y:195.59, Z:4.85 [[ 3.64243771e-01 -9.31293639e-01 -4.31653055e-03 3.37779959e+02] [ 9.31226142e-01 3.64269342e-01 -1.12124703e-02 1.95588778e+02] [ 1.20144820e-02 6.44063647e-05 9.99927821e-01 4.84705769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.86028169299993 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:337.80, Y:195.64, Z:4.85 [[ 3.64391160e-01 -9.31235994e-01 -4.31353884e-03 3.37797983e+02] [ 9.31168478e-01 3.64416684e-01 -1.12136211e-02 1.95639748e+02] [ 1.20144531e-02 6.95130103e-05 9.99927821e-01 4.84846805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.92028169299994 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:337.82, Y:195.69, Z:4.85 [[ 3.61485672e-01 -9.32367700e-01 -4.31043987e-03 3.37817869e+02] [ 9.32300251e-01 3.61511369e-01 -1.12148122e-02 1.95690309e+02] [ 1.20146017e-02 3.53697524e-05 9.99927821e-01 4.84697300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.98028169299994 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:337.84, Y:195.74, Z:4.84 [[ 3.59815080e-01 -9.33013695e-01 -4.30741402e-03 3.37839598e+02] [ 9.32946277e-01 3.59840861e-01 -1.12159743e-02 1.95741202e+02] [ 1.20146411e-02 1.70907994e-05 9.99927821e-01 4.84450375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.04028169299994 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:337.86, Y:195.79, Z:4.84 [[ 3.58977623e-01 -9.33336240e-01 -4.30450264e-03 3.37862320e+02] [ 9.33268833e-01 3.59003430e-01 -1.12170915e-02 1.95791140e+02] [ 1.20146492e-02 9.42667985e-06 9.99927821e-01 4.84168935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.10028169299994 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:337.88, Y:195.84, Z:4.85 [[ 3.61531153e-01 -9.32350107e-01 -4.30149296e-03 3.37882170e+02] [ 9.32282616e-01 3.61556738e-01 -1.12182455e-02 1.95842891e+02] [ 1.20145662e-02 4.55381222e-05 9.99927821e-01 4.84576650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.16028169299994 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:337.90, Y:195.89, Z:4.85 [[ 3.65647436e-01 -9.30743506e-01 -4.29865376e-03 3.37902734e+02] [ 9.30675889e-01 3.65672689e-01 -1.12193333e-02 1.95894760e+02] [ 1.20142219e-02 1.01667055e-04 9.99927821e-01 4.84812198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.22028169299995 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:337.92, Y:195.94, Z:4.85 [[ 3.66310601e-01 -9.30482718e-01 -4.29584583e-03 3.37923121e+02] [ 9.30415071e-01 3.66335772e-01 -1.12204084e-02 1.95944896e+02] [ 1.20141181e-02 1.13234830e-04 9.99927821e-01 4.84642864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.28028169299995 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:337.94, Y:196.00, Z:4.85 [[ 3.65749389e-01 -9.30703473e-01 -4.29292884e-03 3.37943332e+02] [ 9.30635828e-01 3.65774566e-01 -1.12215243e-02 1.95996056e+02] [ 1.20141558e-02 1.09112270e-04 9.99927821e-01 4.85032373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.34028169299995 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:337.96, Y:196.05, Z:4.85 [[ 3.67433125e-01 -9.30040050e-01 -4.28990634e-03 3.37959570e+02] [ 9.29972346e-01 3.67458143e-01 -1.12226797e-02 1.96047767e+02] [ 1.20139026e-02 1.34089998e-04 9.99927821e-01 4.85117542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.40028169299995 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:337.98, Y:196.10, Z:4.85 [[ 3.69572354e-01 -9.29192068e-01 -4.28678964e-03 3.37976859e+02] [ 9.29124292e-01 3.69597179e-01 -1.12238700e-02 1.96099971e+02] [ 1.20135164e-02 1.65071689e-04 9.99927821e-01 4.85190031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.46028169299996 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:337.99, Y:196.15, Z:4.85 [[ 3.73625035e-01 -9.27569934e-01 -4.28382913e-03 3.37991453e+02] [ 9.27502038e-01 3.73649527e-01 -1.12249999e-02 1.96152121e+02] [ 1.20126231e-02 2.20680718e-04 9.99927821e-01 4.85417143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.52028169299996 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:338.01, Y:196.21, Z:4.86 [[ 3.74193350e-01 -9.27340828e-01 -4.28078024e-03 3.38005016e+02] [ 9.27272904e-01 3.74217764e-01 -1.12261625e-02 1.96206807e+02] [ 1.20124228e-02 2.31303826e-04 9.99927822e-01 4.85561178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.58028169299996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:338.02, Y:196.26, Z:4.85 [[ 3.71720125e-01 -9.28334987e-01 -4.27784737e-03 3.38021496e+02] [ 9.28267116e-01 3.71744684e-01 -1.12272800e-02 1.96259733e+02] [ 1.20129438e-02 2.02420876e-04 9.99927822e-01 4.85485643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.64028169299996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:338.04, Y:196.31, Z:4.85 [[ 3.67996171e-01 -9.29817479e-01 -4.27481110e-03 3.38039830e+02] [ 9.29749693e-01 3.68020966e-01 -1.12284359e-02 1.96311427e+02] [ 1.20136161e-02 1.57517120e-04 9.99927822e-01 4.85404399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.70028169299997 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:338.06, Y:196.36, Z:4.86 [[ 3.66769621e-01 -9.30301993e-01 -4.27166829e-03 3.38058012e+02] [ 9.30234226e-01 3.66794467e-01 -1.12296314e-02 1.96363897e+02] [ 1.20137728e-02 1.45035613e-04 9.99927822e-01 4.85516466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.76028169299997 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:338.08, Y:196.42, Z:4.85 [[ 3.67002039e-01 -9.30210343e-01 -4.26872744e-03 3.38076138e+02] [ 9.30142556e-01 3.67026833e-01 -1.12307492e-02 1.96416836e+02] [ 1.20136966e-02 1.51182808e-04 9.99927822e-01 4.85224117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.82028169299997 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:338.09, Y:196.47, Z:4.85 [[ 3.67496732e-01 -9.30015029e-01 -4.26579373e-03 3.38094252e+02] [ 9.29947217e-01 3.67521454e-01 -1.12318634e-02 1.96469641e+02] [ 1.20135725e-02 1.60710099e-04 9.99927822e-01 4.85058970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.880281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:338.11, Y:196.52, Z:4.86 [[ 3.69239948e-01 -9.29324319e-01 -4.26283616e-03 3.38112235e+02] [ 9.29256447e-01 3.69264507e-01 -1.12329858e-02 1.96522224e+02] [ 1.20132010e-02 1.86399106e-04 9.99927822e-01 4.85747770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.940281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:338.13, Y:196.57, Z:4.86 [[ 3.66754224e-01 -9.30308117e-01 -4.25978526e-03 3.38126925e+02] [ 9.30240298e-01 3.66778928e-01 -1.12341426e-02 1.96574320e+02] [ 1.20136136e-02 1.57545356e-04 9.99927822e-01 4.86332899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.000281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:338.15, Y:196.63, Z:4.86 [[ 3.63925848e-01 -9.31418197e-01 -4.25663207e-03 3.38145451e+02] [ 9.31350439e-01 3.63950719e-01 -1.12353373e-02 1.96626533e+02] [ 1.20140019e-02 1.24413494e-04 9.99927822e-01 4.86054218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.060281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:338.16, Y:196.68, Z:4.86 [[ 3.60982755e-01 -9.32562790e-01 -4.25364568e-03 3.38164476e+02] [ 9.32495098e-01 3.61007804e-01 -1.12364678e-02 1.96677775e+02] [ 1.20143110e-02 8.96673444e-05 9.99927822e-01 4.85604419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.120281693 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:338.19, Y:196.73, Z:4.86 [[ 3.54238635e-01 -9.35145399e-01 -4.25111126e-03 3.38187286e+02] [ 9.35077878e-01 3.54264143e-01 -1.12374266e-02 1.96728869e+02] [ 1.20146440e-02 5.61054816e-06 9.99927822e-01 4.85883515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.180281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:338.21, Y:196.78, Z:4.86 [[ 3.50650313e-01 -9.36496829e-01 -4.24830560e-03 3.38211163e+02] [ 9.36429393e-01 3.50676045e-01 -1.12384871e-02 1.96779649e+02] [ 1.20145866e-02 -3.74592021e-05 9.99927822e-01 4.85916782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.240281693 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:338.24, Y:196.83, Z:4.86 [[ 3.50037108e-01 -9.36726214e-01 -4.24538483e-03 3.38236019e+02] [ 9.36658782e-01 3.50062849e-01 -1.12395904e-02 1.96828137e+02] [ 1.20145704e-02 -4.22032889e-05 9.99927822e-01 4.85890502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.300281693 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:338.26, Y:196.88, Z:4.86 [[ 3.51154562e-01 -9.36307896e-01 -4.24236103e-03 3.38259584e+02] [ 9.36240419e-01 3.51180186e-01 -1.12407316e-02 1.96878086e+02] [ 1.20146189e-02 -2.46357047e-05 9.99927822e-01 4.85848544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.36028169299993 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:338.28, Y:196.93, Z:4.86 [[ 3.57097900e-01 -9.34057341e-01 -4.23952006e-03 3.38281199e+02] [ 9.33989690e-01 3.57123061e-01 -1.12418030e-02 1.96929178e+02] [ 1.20145190e-02 5.47562081e-05 9.99927822e-01 4.85749789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.42028169299994 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:338.30, Y:196.98, Z:4.86 [[ 3.64458468e-01 -9.31210007e-01 -4.23647002e-03 3.38297881e+02] [ 9.31142146e-01 3.64483058e-01 -1.12429522e-02 1.96980629e+02] [ 1.20136712e-02 1.52833365e-04 9.99927822e-01 4.85671939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.48028169299994 meters Centerline goodness : 0.999536 with order 1 Centerline is valid? [True, True] Translation: X:338.31, Y:197.03, Z:4.86 [[ 3.66158238e-01 -9.30542970e-01 -4.23387734e-03 3.38314602e+02] [ 9.30475053e-01 3.66182673e-01 -1.12439285e-02 1.97033171e+02] [ 1.20133312e-02 1.77539817e-04 9.99927822e-01 4.85755314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.54028169299994 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:338.33, Y:197.09, Z:4.86 [[ 3.63964847e-01 -9.31403075e-01 -4.23108803e-03 3.38326519e+02] [ 9.31335204e-01 3.63989407e-01 -1.12449780e-02 1.97087698e+02] [ 1.20136783e-02 1.52215476e-04 9.99927822e-01 4.86127553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.60028169299994 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:338.34, Y:197.14, Z:4.86 [[ 3.59747940e-01 -9.33039947e-01 -4.22823094e-03 3.38341459e+02] [ 9.32972174e-01 3.59772773e-01 -1.12460522e-02 1.97141372e+02] [ 1.20142183e-02 1.00922310e-04 9.99927822e-01 4.86123452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.66028169299994 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:338.36, Y:197.20, Z:4.86 [[ 3.51479089e-01 -9.36186197e-01 -4.22537861e-03 3.38356059e+02] [ 9.36118635e-01 3.51504486e-01 -1.12471238e-02 1.97195510e+02] [ 1.20146416e-02 -2.32682590e-06 9.99927822e-01 4.86281682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.72028169299995 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:338.37, Y:197.25, Z:4.87 [[ 3.46762938e-01 -9.37943301e-01 -4.22244651e-03 3.38373124e+02] [ 9.37875854e-01 3.46788639e-01 -1.12482245e-02 1.97248495e+02] [ 1.20144933e-02 -5.96632640e-05 9.99927822e-01 4.86769163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.78028169299995 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:338.39, Y:197.30, Z:4.87 [[ 3.43524901e-01 -9.39134090e-01 -4.21951529e-03 3.38391167e+02] [ 9.39066718e-01 3.43550800e-01 -1.12493240e-02 1.97301467e+02] [ 1.20142415e-02 -9.79834722e-05 9.99927822e-01 4.86963686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.84028169299995 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:338.41, Y:197.35, Z:4.87 [[ 3.42577603e-01 -9.39480073e-01 -4.21648383e-03 3.38409927e+02] [ 9.39412713e-01 3.42603534e-01 -1.12504601e-02 1.97352578e+02] [ 1.20141653e-02 -1.06862854e-04 9.99927822e-01 4.86895509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.90028169299995 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:338.43, Y:197.40, Z:4.86 [[ 3.39919496e-01 -9.40445099e-01 -4.21335007e-03 3.38429569e+02] [ 9.40377798e-01 3.39945580e-01 -1.12516336e-02 1.97403220e+02] [ 1.20138534e-02 -1.37491246e-04 9.99927822e-01 4.86410795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.96028169299996 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:338.45, Y:197.45, Z:4.86 [[ 3.35615661e-01 -9.41989597e-01 -4.21030824e-03 3.38451877e+02] [ 9.41922402e-01 3.35642016e-01 -1.12527717e-02 1.97453224e+02] [ 1.20131502e-02 -1.89177232e-04 9.99927822e-01 4.86494957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.02028169299996 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:338.47, Y:197.50, Z:4.87 [[ 3.34466532e-01 -9.42398237e-01 -4.20733085e-03 3.38472995e+02] [ 9.42331060e-01 3.34492934e-01 -1.12538848e-02 1.97504692e+02] [ 1.20129637e-02 -2.00650714e-04 9.99927822e-01 4.86961839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.08028169299996 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:338.50, Y:197.56, Z:4.87 [[ 3.35314552e-01 -9.42096850e-01 -4.20443686e-03 3.38495659e+02] [ 9.42029636e-01 3.35340858e-01 -1.12549659e-02 1.97555505e+02] [ 1.20131874e-02 -1.86750280e-04 9.99927822e-01 4.86642120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.14028169299996 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:338.52, Y:197.61, Z:4.87 [[ 3.34668027e-01 -9.42326726e-01 -4.20156113e-03 3.38518969e+02] [ 9.42259517e-01 3.34694345e-01 -1.12560393e-02 1.97606105e+02] [ 1.20131054e-02 -1.91924479e-04 9.99927822e-01 4.86906938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.20028169299997 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:338.54, Y:197.66, Z:4.87 [[ 3.34009883e-01 -9.42560220e-01 -4.19869221e-03 3.38544702e+02] [ 9.42493016e-01 3.34036214e-01 -1.12571094e-02 1.97656230e+02] [ 1.20130188e-02 -1.97252293e-04 9.99927822e-01 4.86979057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.26028169299997 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:338.57, Y:197.71, Z:4.87 [[ 3.36060377e-01 -9.41831098e-01 -4.19580109e-03 3.38569693e+02] [ 9.41763824e-01 3.36086527e-01 -1.12581869e-02 1.97705921e+02] [ 1.20134627e-02 -1.68023148e-04 9.99927822e-01 4.87082637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.32028169299997 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:338.59, Y:197.76, Z:4.87 [[ 3.38750296e-01 -9.40866971e-01 -4.19283447e-03 3.38592154e+02] [ 9.40799608e-01 3.38776218e-01 -1.12592916e-02 1.97755882e+02] [ 1.20139282e-02 -1.30528661e-04 9.99927822e-01 4.87196774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.380281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:338.62, Y:197.81, Z:4.87 [[ 3.45529196e-01 -9.38398647e-01 -4.18975959e-03 3.38615628e+02] [ 9.38331085e-01 3.45554595e-01 -1.12604357e-02 1.97805417e+02] [ 1.20145683e-02 -4.05723585e-05 9.99927822e-01 4.87212943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.440281693 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:338.64, Y:197.86, Z:4.87 [[ 3.49678405e-01 -9.36860440e-01 -4.18679321e-03 3.38635934e+02] [ 9.36792753e-01 3.49703469e-01 -1.12615385e-02 1.97855567e+02] [ 1.20146261e-02 1.57593013e-05 9.99927822e-01 4.87098375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.500281693 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:338.65, Y:197.91, Z:4.87 [[ 3.54713699e-01 -9.34965607e-01 -4.18385483e-03 3.38653605e+02] [ 9.34897774e-01 3.54738363e-01 -1.12626301e-02 1.97907773e+02] [ 1.20143456e-02 8.35326199e-05 9.99927822e-01 4.86921932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.560281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:338.67, Y:197.96, Z:4.87 [[ 3.54628726e-01 -9.34997854e-01 -4.18095747e-03 3.38672494e+02] [ 9.34930010e-01 3.54653360e-01 -1.12637056e-02 1.97958411e+02] [ 1.20143311e-02 8.55309449e-05 9.99927822e-01 4.87251712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.620281693 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:338.69, Y:198.01, Z:4.87 [[ 3.52640212e-01 -9.35749657e-01 -4.17847843e-03 3.38690143e+02] [ 9.35681855e-01 3.52664961e-01 -1.12646251e-02 1.98010688e+02] [ 1.20144720e-02 6.26333497e-05 9.99927822e-01 4.87203929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.680281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:338.70, Y:198.06, Z:4.88 [[ 3.50766014e-01 -9.36453826e-01 -4.17565970e-03 3.38704872e+02] [ 9.36386060e-01 3.50790865e-01 -1.12656699e-02 1.98064385e+02] [ 1.20145630e-02 4.15845834e-05 9.99927822e-01 4.87671361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.740281693 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:338.72, Y:198.12, Z:4.88 [[ 3.50368634e-01 -9.36602589e-01 -4.17265936e-03 3.38719394e+02] [ 9.36534821e-01 3.50393478e-01 -1.12667811e-02 1.98117431e+02] [ 1.20145690e-02 3.96859075e-05 9.99927822e-01 4.87863120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.800281693 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:338.73, Y:198.17, Z:4.87 [[ 3.48442143e-01 -9.37321016e-01 -4.16956747e-03 3.38733110e+02] [ 9.37253286e-01 3.48467089e-01 -1.12679252e-02 1.98171244e+02] [ 1.20146201e-02 1.82792001e-05 9.99927822e-01 4.87027320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.86028169299993 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:338.75, Y:198.22, Z:4.87 [[ 3.43468838e-01 -9.39154830e-01 -4.16678914e-03 3.38749196e+02] [ 9.39087220e-01 3.43494109e-01 -1.12689525e-02 1.98224758e+02] [ 1.20145587e-02 -4.24444077e-05 9.99927822e-01 4.87377156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.92028169299994 meters Centerline goodness : 0.999578 with order 1 Centerline is valid? [True, True] Translation: X:338.76, Y:198.28, Z:4.88 [[ 3.40235697e-01 -9.40330970e-01 -4.16387715e-03 3.38764146e+02] [ 9.40263434e-01 3.40261165e-01 -1.12700284e-02 1.98277622e+02] [ 1.20143624e-02 -8.06754721e-05 9.99927822e-01 4.87554457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.98028169299994 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:338.78, Y:198.33, Z:4.88 [[ 3.37828965e-01 -9.41198320e-01 -4.16087409e-03 3.38781519e+02] [ 9.41130836e-01 3.37854571e-01 -1.12711370e-02 1.98330775e+02] [ 1.20141455e-02 -1.08210357e-04 9.99927822e-01 4.87840536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.04028169299994 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:338.80, Y:198.38, Z:4.88 [[ 3.35760345e-01 -9.41938269e-01 -4.15795219e-03 3.38799799e+02] [ 9.41870828e-01 3.35786064e-01 -1.12722148e-02 1.98383463e+02] [ 1.20139129e-02 -1.31491137e-04 9.99927822e-01 4.87710709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.10028169299994 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:338.82, Y:198.43, Z:4.88 [[ 3.29982817e-01 -9.43977794e-01 -4.15504162e-03 3.38823111e+02] [ 9.43910499e-01 3.30008914e-01 -1.12732876e-02 1.98433454e+02] [ 1.20129339e-02 -2.01996219e-04 9.99927822e-01 4.87694449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.16028169299994 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:338.85, Y:198.48, Z:4.88 [[ 3.26052586e-01 -9.45342513e-01 -4.15258004e-03 3.38846542e+02] [ 9.45275315e-01 3.26078933e-01 -1.12741942e-02 1.98484135e+02] [ 1.20120440e-02 -2.49351226e-04 9.99927822e-01 4.87922738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.22028169299995 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:338.87, Y:198.53, Z:4.89 [[ 3.28406872e-01 -9.44527240e-01 -4.14967191e-03 3.38871223e+02] [ 9.44459963e-01 3.28433017e-01 -1.12752645e-02 1.98533021e+02] [ 1.20126837e-02 -2.16324631e-04 9.99927822e-01 4.88615375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.28028169299995 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:338.89, Y:198.58, Z:4.89 [[ 3.33645728e-01 -9.42689415e-01 -4.14665887e-03 3.38893475e+02] [ 9.42621981e-01 3.33671463e-01 -1.12763725e-02 1.98583722e+02] [ 1.20137387e-02 -1.46418289e-04 9.99927822e-01 4.88549052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.34028169299995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:338.92, Y:198.63, Z:4.88 [[ 3.39515011e-01 -9.40591509e-01 -4.14365109e-03 3.38917073e+02] [ 9.40523902e-01 3.39540289e-01 -1.12774776e-02 1.98633160e+02] [ 1.20144362e-02 -6.83299391e-05 9.99927822e-01 4.88084151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.40028169299995 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:338.94, Y:198.68, Z:4.89 [[ 3.42638188e-01 -9.39458316e-01 -4.14054493e-03 3.38939347e+02] [ 9.39390612e-01 3.42663204e-01 -1.12786180e-02 1.98683616e+02] [ 1.20146038e-02 -2.51038176e-05 9.99927822e-01 4.88845219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.46028169299996 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:338.96, Y:198.74, Z:4.89 [[ 3.43874841e-01 -9.39006376e-01 -4.13760995e-03 3.38959141e+02] [ 9.38938625e-01 3.43899733e-01 -1.12796946e-02 1.98735178e+02] [ 1.20146281e-02 -6.15862114e-06 9.99927822e-01 4.89051341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.52028169299996 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:338.98, Y:198.79, Z:4.88 [[ 3.45586911e-01 -9.38377638e-01 -4.13467526e-03 3.38978580e+02] [ 9.38309830e-01 3.45611643e-01 -1.12807702e-02 1.98787566e+02] [ 1.20146144e-02 1.88800830e-05 9.99927822e-01 4.88327010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.58028169299996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:339.00, Y:198.84, Z:4.88 [[ 3.45409114e-01 -9.38443111e-01 -4.13173822e-03 3.38998134e+02] [ 9.38375294e-01 3.45433824e-01 -1.12818458e-02 1.98838696e+02] [ 1.20146126e-02 1.97313063e-05 9.99927822e-01 4.88198371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.64028169299996 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:339.02, Y:198.89, Z:4.88 [[ 3.41710031e-01 -9.39796366e-01 -4.12869369e-03 3.39018916e+02] [ 9.39728633e-01 3.41734972e-01 -1.12829599e-02 1.98890606e+02] [ 1.20146037e-02 -2.43511039e-05 9.99927822e-01 4.88328087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.70028169299997 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:339.04, Y:198.94, Z:4.89 [[ 3.39444387e-01 -9.40617078e-01 -4.12561052e-03 3.39038054e+02] [ 9.40549392e-01 3.39469454e-01 -1.12840871e-02 1.98941637e+02] [ 1.20145238e-02 -5.00204292e-05 9.99927822e-01 4.88686483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.76028169299997 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:339.06, Y:198.99, Z:4.89 [[ 3.39161375e-01 -9.40719176e-01 -4.12241886e-03 3.39055977e+02] [ 9.40651483e-01 3.39186424e-01 -1.12852530e-02 1.98994471e+02] [ 1.20145224e-02 -5.02374824e-05 9.99927822e-01 4.89076296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.82028169299997 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:339.07, Y:199.05, Z:4.89 [[ 3.38632371e-01 -9.40909745e-01 -4.11937140e-03 3.39072584e+02] [ 9.40842053e-01 3.38657421e-01 -1.12863653e-02 1.99046779e+02] [ 1.20145068e-02 -5.37492036e-05 9.99927822e-01 4.89226477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.880281693 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:339.09, Y:199.10, Z:4.89 [[ 3.35918894e-01 -9.41881921e-01 -4.11620946e-03 3.39090483e+02] [ 9.41814288e-01 3.35944102e-01 -1.12875184e-02 1.99099091e+02] [ 1.20143258e-02 -8.50141840e-05 9.99927822e-01 4.89144599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.940281693 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:339.11, Y:199.15, Z:4.89 [[ 3.34335102e-01 -9.42445288e-01 -4.11328445e-03 3.39106937e+02] [ 9.42377684e-01 3.34360388e-01 -1.12885842e-02 1.99152102e+02] [ 1.20141923e-02 -1.02097539e-04 9.99927822e-01 4.88995499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.000281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:339.13, Y:199.20, Z:4.90 [[ 3.30612701e-01 -9.43757568e-01 -4.11036477e-03 3.39126791e+02] [ 9.43690051e-01 3.30638218e-01 -1.12896472e-02 1.99203731e+02] [ 1.20137336e-02 -1.46409601e-04 9.99927822e-01 4.89570795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.060281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:339.15, Y:199.25, Z:4.90 [[ 3.27478836e-01 -9.44849586e-01 -4.10745266e-03 3.39149894e+02] [ 9.44782141e-01 3.27504543e-01 -1.12907066e-02 1.99254718e+02] [ 1.20132288e-02 -1.83180474e-04 9.99927822e-01 4.89547235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.120281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:339.18, Y:199.30, Z:4.89 [[ 3.23685947e-01 -9.46155675e-01 -4.10453244e-03 3.39178797e+02] [ 9.46088320e-01 3.23711890e-01 -1.12917681e-02 1.99302526e+02] [ 1.20124564e-02 -2.28263552e-04 9.99927822e-01 4.89413128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.180281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:339.20, Y:199.35, Z:4.89 [[ 3.23009010e-01 -9.46386999e-01 -4.10206225e-03 3.39204356e+02] [ 9.46319652e-01 3.23034971e-01 -1.12926654e-02 1.99351773e+02] [ 1.20123413e-02 -2.34229463e-04 9.99927822e-01 4.89475418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.240281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:339.23, Y:199.40, Z:4.89 [[ 3.28691988e-01 -9.44428279e-01 -4.09917945e-03 3.39232463e+02] [ 9.44360763e-01 3.28717510e-01 -1.12937117e-02 1.99401104e+02] [ 1.20135728e-02 -1.58951678e-04 9.99927822e-01 4.89264516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.300281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:339.26, Y:199.45, Z:4.90 [[ 3.33849447e-01 -9.42617508e-01 -4.09632477e-03 3.39258225e+02] [ 9.42549842e-01 3.33874564e-01 -1.12947470e-02 1.99450264e+02] [ 1.20142850e-02 -9.02452160e-05 9.99927822e-01 4.89652393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.36028169299993 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:339.28, Y:199.50, Z:4.90 [[ 3.37628360e-01 -9.41270595e-01 -4.09346732e-03 3.39284485e+02] [ 9.41202816e-01 3.37653172e-01 -1.12957825e-02 1.99497344e+02] [ 1.20145602e-02 -3.90064262e-05 9.99927822e-01 4.90055623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.42028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:339.31, Y:199.55, Z:4.90 [[ 3.38441553e-01 -9.40978525e-01 -4.09023713e-03 3.39308996e+02] [ 9.40910710e-01 3.38466267e-01 -1.12969521e-02 1.99547140e+02] [ 1.20145966e-02 -2.51899172e-05 9.99927822e-01 4.89867192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.48028169299994 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:339.33, Y:199.60, Z:4.91 [[ 3.42107346e-01 -9.39651988e-01 -4.08729738e-03 3.39334728e+02] [ 9.39584064e-01 3.42131760e-01 -1.12980156e-02 1.99595691e+02] [ 1.20145971e-02 2.47746461e-05 9.99927822e-01 4.90541271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.54028169299994 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:339.36, Y:199.65, Z:4.91 [[ 3.45640899e-01 -9.38357974e-01 -4.08424849e-03 3.39356218e+02] [ 9.38289946e-01 3.45665021e-01 -1.12991177e-02 1.99647357e+02] [ 1.20143990e-02 7.32278933e-05 9.99927822e-01 4.90555328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.60028169299994 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:339.38, Y:199.70, Z:4.90 [[ 3.51645371e-01 -9.36124391e-01 -4.08132346e-03 3.39377540e+02] [ 9.36056198e-01 3.51669021e-01 -1.13001741e-02 1.99697892e+02] [ 1.20136436e-02 1.53305789e-04 9.99927822e-01 4.89857613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.66028169299994 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:339.39, Y:199.75, Z:4.90 [[ 3.55852573e-01 -9.34533204e-01 -4.07879561e-03 3.39393649e+02] [ 9.34464895e-01 3.55875886e-01 -1.13010865e-02 1.99749361e+02] [ 1.20127855e-02 2.10029387e-04 9.99927822e-01 4.89830191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.72028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:339.41, Y:199.80, Z:4.90 [[ 3.60075050e-01 -9.32914438e-01 -4.07561059e-03 3.39410183e+02] [ 9.32846010e-01 3.60098015e-01 -1.13022350e-02 1.99802780e+02] [ 1.20116375e-02 2.67735749e-04 9.99927822e-01 4.90427049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.78028169299995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:339.43, Y:199.86, Z:4.91 [[ 3.59906876e-01 -9.32979342e-01 -4.07277647e-03 3.39425824e+02] [ 9.32910908e-01 3.59929820e-01 -1.13032562e-02 1.99855823e+02] [ 1.20116182e-02 2.68582036e-04 9.99927822e-01 4.90758552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.84028169299995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:339.44, Y:199.91, Z:4.90 [[ 3.56259937e-01 -9.34378025e-01 -4.06977758e-03 3.39441922e+02] [ 9.34309669e-01 3.56283111e-01 -1.13043358e-02 1.99908380e+02] [ 1.20125160e-02 2.24849428e-04 9.99927822e-01 4.90429578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.90028169299995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:339.46, Y:199.96, Z:4.90 [[ 3.52856679e-01 -9.35668545e-01 -4.06667916e-03 3.39458464e+02] [ 9.35600260e-01 3.52880064e-01 -1.13054504e-02 1.99960648e+02] [ 1.20132043e-02 1.84417582e-04 9.99927822e-01 4.90116627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.96028169299996 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:339.48, Y:200.01, Z:4.90 [[ 3.46807976e-01 -9.37927348e-01 -4.06422675e-03 3.39475321e+02] [ 9.37859205e-01 3.46831773e-01 -1.13063319e-02 2.00013915e+02] [ 1.20141209e-02 1.09453622e-04 9.99927822e-01 4.89833923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.02028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:339.49, Y:200.07, Z:4.90 [[ 3.41385412e-01 -9.39914627e-01 -4.06137476e-03 3.39494548e+02] [ 9.39846611e-01 3.41409567e-01 -1.13073563e-02 2.00065613e+02] [ 1.20145418e-02 4.30971799e-05 9.99927822e-01 4.90189745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.08028169299996 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:339.52, Y:200.12, Z:4.91 [[ 3.33212722e-01 -9.42842941e-01 -4.05841627e-03 3.39517327e+02] [ 9.42775124e-01 3.33237431e-01 -1.13084181e-02 2.00115919e+02] [ 1.20144783e-02 -5.80651299e-05 9.99927822e-01 4.90686730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.14028169299996 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:339.54, Y:200.17, Z:4.90 [[ 3.29217472e-01 -9.44245418e-01 -4.05536542e-03 3.39539742e+02] [ 9.44177693e-01 3.29242432e-01 -1.13095120e-02 2.00166256e+02] [ 1.20141533e-02 -1.05696605e-04 9.99927822e-01 4.90474562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.20028169299997 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:339.56, Y:200.22, Z:4.90 [[ 3.26649145e-01 -9.45136983e-01 -4.05220223e-03 3.39563362e+02] [ 9.45069311e-01 3.26674251e-01 -1.13106453e-02 2.00215657e+02] [ 1.20138593e-02 -1.34999359e-04 9.99927822e-01 4.90081359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.26028169299997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:339.59, Y:200.27, Z:4.90 [[ 3.25542966e-01 -9.45518578e-01 -4.04912912e-03 3.39590660e+02] [ 9.45450923e-01 3.25568114e-01 -1.13117453e-02 2.00265064e+02] [ 1.20137327e-02 -1.45793738e-04 9.99927822e-01 4.90360465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.32028169299997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:339.61, Y:200.32, Z:4.91 [[ 3.25593866e-01 -9.45501064e-01 -4.04616889e-03 3.39612477e+02] [ 9.45433394e-01 3.25618975e-01 -1.13128041e-02 2.00315905e+02] [ 1.20137777e-02 -1.42003565e-04 9.99927822e-01 4.90761569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.380281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:339.64, Y:200.36, Z:4.91 [[ 3.25067817e-01 -9.45682064e-01 -4.04324032e-03 3.39635913e+02] [ 9.45614395e-01 3.25092929e-01 -1.13138507e-02 2.00364492e+02] [ 1.20137345e-02 -1.45577505e-04 9.99927822e-01 4.90699512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.440281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:339.66, Y:200.41, Z:4.90 [[ 3.25298471e-01 -9.45602762e-01 -4.03994156e-03 3.39656786e+02] [ 9.45535072e-01 3.25323527e-01 -1.13150285e-02 2.00414812e+02] [ 1.20138102e-02 -1.39144968e-04 9.99927822e-01 4.90327066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.500281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:339.68, Y:200.46, Z:4.90 [[ 3.25248281e-01 -9.45620040e-01 -4.03678412e-03 3.39680863e+02] [ 9.45552338e-01 3.25273302e-01 -1.13161548e-02 2.00463520e+02] [ 1.20138409e-02 -1.36430758e-04 9.99927822e-01 4.90365470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.560281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:339.70, Y:200.51, Z:4.90 [[ 3.22934408e-01 -9.46412753e-01 -4.03353391e-03 3.39703764e+02] [ 9.46345097e-01 3.22959556e-01 -1.13173132e-02 2.00512806e+02] [ 1.20135179e-02 -1.62365194e-04 9.99927822e-01 4.90418034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.620281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:339.73, Y:200.56, Z:4.91 [[ 3.21669088e-01 -9.46843574e-01 -4.03032409e-03 3.39728124e+02] [ 9.46775938e-01 3.21694288e-01 -1.13184562e-02 2.00561335e+02] [ 1.20133397e-02 -1.75016397e-04 9.99927822e-01 4.91093999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.680281693 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:339.75, Y:200.61, Z:4.91 [[ 3.22140619e-01 -9.46683265e-01 -4.02716326e-03 3.39746868e+02] [ 9.46615602e-01 3.22165748e-01 -1.13195807e-02 2.00612833e+02] [ 1.20134717e-02 -1.65678839e-04 9.99927822e-01 4.91292670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.740281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:339.77, Y:200.66, Z:4.91 [[ 3.27466629e-01 -9.44854176e-01 -4.02412421e-03 3.39768461e+02] [ 9.44786359e-01 3.27491340e-01 -1.13206610e-02 2.00663562e+02] [ 1.20142396e-02 -9.47989659e-05 9.99927822e-01 4.91143570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.800281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:339.79, Y:200.72, Z:4.91 [[ 3.31356509e-01 -9.43497057e-01 -4.02095612e-03 3.39787490e+02] [ 9.43429126e-01 3.31380902e-01 -1.13217861e-02 2.00715230e+02] [ 1.20145400e-02 -4.19395899e-05 9.99927822e-01 4.90980310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.86028169299993 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:339.81, Y:200.77, Z:4.91 [[ 3.36337199e-01 -9.41733055e-01 -4.01776083e-03 3.39805067e+02] [ 9.41664982e-01 3.36361194e-01 -1.13229199e-02 2.00767489e+02] [ 1.20145868e-02 2.49344939e-05 9.99927822e-01 4.91386365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.92028169299994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:339.82, Y:200.82, Z:4.92 [[ 3.37182529e-01 -9.41430732e-01 -4.01479017e-03 3.39822268e+02] [ 9.41362625e-01 3.37206428e-01 -1.13239732e-02 2.00819370e+02] [ 1.20145494e-02 3.88724991e-05 9.99927822e-01 4.91845124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.98028169299994 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:339.84, Y:200.87, Z:4.92 [[ 3.38545361e-01 -9.40941520e-01 -4.01172114e-03 3.39835961e+02] [ 9.40873366e-01 3.38569124e-01 -1.13250603e-02 2.00871634e+02] [ 1.20144644e-02 5.95250576e-05 9.99927822e-01 4.91569383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.04028169299994 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:339.85, Y:200.93, Z:4.91 [[ 3.41172813e-01 -9.39992044e-01 -4.00858787e-03 3.39850337e+02] [ 9.39923811e-01 3.41196348e-01 -1.13261692e-02 2.00925334e+02] [ 1.20142245e-02 9.64138271e-05 9.99927822e-01 4.91486840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.10028169299994 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:339.86, Y:200.98, Z:4.92 [[ 3.44177514e-01 -9.38896051e-01 -4.00559514e-03 3.39863349e+02] [ 9.38827730e-01 3.44200794e-01 -1.13272276e-02 2.00979841e+02] [ 1.20138182e-02 1.38013225e-04 9.99927822e-01 4.91577534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.16028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:339.88, Y:201.03, Z:4.92 [[ 3.44623561e-01 -9.38732433e-01 -4.00256942e-03 3.39877232e+02] [ 9.38664089e-01 3.44646773e-01 -1.13282966e-02 2.01034044e+02] [ 1.20137121e-02 1.46929749e-04 9.99927822e-01 4.91594774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.22028169299995 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:339.89, Y:201.09, Z:4.92 [[ 3.45210409e-01 -9.38516796e-01 -3.99958101e-03 3.39888806e+02] [ 9.38448426e-01 3.45233542e-01 -1.13293516e-02 2.01087321e+02] [ 1.20135763e-02 1.57609598e-04 9.99927822e-01 4.91849458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.28028169299995 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:339.91, Y:201.14, Z:4.92 [[ 3.45143295e-01 -9.38541491e-01 -3.99704507e-03 3.39905375e+02] [ 9.38473111e-01 3.45166402e-01 -1.13302462e-02 2.01139917e+02] [ 1.20135518e-02 1.59439194e-04 9.99927822e-01 4.91907220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.34028169299995 meters Centerline goodness : 0.999514 with order 1 Centerline is valid? [True, True] Translation: X:339.92, Y:201.19, Z:4.92 [[ 3.43217416e-01 -9.39247493e-01 -3.99410048e-03 3.39919724e+02] [ 9.39179149e-01 3.43240628e-01 -1.13312842e-02 2.01193054e+02] [ 1.20138178e-02 1.37918178e-04 9.99927822e-01 4.91986768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.40028169299995 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:339.94, Y:201.25, Z:4.92 [[ 3.41116730e-01 -9.40012472e-01 -3.99105475e-03 3.39935202e+02] [ 9.39944168e-01 3.41140058e-01 -1.13323568e-02 2.01246059e+02] [ 1.20140654e-02 1.14287862e-04 9.99927822e-01 4.91924611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.46028169299996 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:339.95, Y:201.30, Z:4.93 [[ 3.39273541e-01 -9.40679307e-01 -3.98814376e-03 3.39951070e+02] [ 9.40611037e-01 3.39296967e-01 -1.13333812e-02 2.01298664e+02] [ 1.20142422e-02 9.38243180e-05 9.99927822e-01 4.92525967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.52028169299996 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:339.97, Y:201.35, Z:4.92 [[ 3.38345750e-01 -9.41013428e-01 -3.98512917e-03 3.39966937e+02] [ 9.40945168e-01 3.38369207e-01 -1.13344411e-02 2.01352167e+02] [ 1.20143063e-02 8.51719277e-05 9.99927822e-01 4.92027970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.58028169299996 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:339.98, Y:201.40, Z:4.92 [[ 3.36948859e-01 -9.41514529e-01 -3.98214520e-03 3.39984939e+02] [ 9.41446292e-01 3.36972382e-01 -1.13354893e-02 2.01403733e+02] [ 1.20144009e-02 7.05043620e-05 9.99927822e-01 4.91598906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.64028169299996 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:340.00, Y:201.46, Z:4.92 [[ 3.33768518e-01 -9.42646667e-01 -3.97960785e-03 3.40002575e+02] [ 9.42578499e-01 3.33792240e-01 -1.13363801e-02 2.01455907e+02] [ 1.20145631e-02 3.26339814e-05 9.99927822e-01 4.92254065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.70028169299997 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:340.02, Y:201.51, Z:4.92 [[ 3.33920620e-01 -9.42592810e-01 -3.97661576e-03 3.40021242e+02] [ 9.42524626e-01 3.33944295e-01 -1.13374295e-02 2.01507539e+02] [ 1.20145477e-02 3.77432178e-05 9.99927822e-01 4.92347075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.76028169299997 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:340.04, Y:201.56, Z:4.92 [[ 3.34136561e-01 -9.42516297e-01 -3.97353260e-03 3.40040742e+02] [ 9.42448094e-01 3.34160184e-01 -1.13385100e-02 2.01560052e+02] [ 1.20145269e-02 4.37625307e-05 9.99927822e-01 4.92236618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.82028169299997 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:340.06, Y:201.61, Z:4.92 [[ 3.34266060e-01 -9.42470390e-01 -3.97059910e-03 3.40059910e+02] [ 9.42402172e-01 3.34289638e-01 -1.13395372e-02 2.01611965e+02] [ 1.20145082e-02 4.85212102e-05 9.99927822e-01 4.92091208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.880281693 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:340.08, Y:201.66, Z:4.92 [[ 3.35231366e-01 -9.42127480e-01 -3.96765360e-03 3.40078256e+02] [ 9.42059226e-01 3.35254838e-01 -1.13405677e-02 2.01663748e+02] [ 1.20144356e-02 6.39493335e-05 9.99927822e-01 4.91792644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.940281693 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:340.10, Y:201.72, Z:4.92 [[ 3.36513532e-01 -9.41670284e-01 -3.96460809e-03 3.40095686e+02] [ 9.41601985e-01 3.36536875e-01 -1.13416323e-02 2.01715596e+02] [ 1.20143150e-02 8.35299057e-05 9.99927822e-01 4.92015882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.000281693 meters Centerline goodness : 0.999400 with order 1 Centerline is valid? [True, True] Translation: X:340.11, Y:201.77, Z:4.92 [[ 3.35386478e-01 -9.42072299e-01 -3.96157923e-03 3.40113902e+02] [ 9.42004015e-01 3.35409867e-01 -1.13426902e-02 2.01767157e+02] [ 1.20143870e-02 7.23613732e-05 9.99927822e-01 4.92326327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.060281693 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:340.13, Y:201.82, Z:4.93 [[ 3.31772764e-01 -9.43351029e-01 -3.95845021e-03 3.40131797e+02] [ 9.43282823e-01 3.31796376e-01 -1.13437821e-02 2.01818248e+02] [ 1.20145679e-02 2.96198450e-05 9.99927822e-01 4.92509917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.120281693 meters Centerline goodness : 0.999258 with order 1 Centerline is valid? [True, True] Translation: X:340.15, Y:201.87, Z:4.93 [[ 3.32427517e-01 -9.43120513e-01 -3.95522387e-03 3.40147001e+02] [ 9.43052277e-01 3.32451043e-01 -1.13449069e-02 2.01870447e+02] [ 1.20145327e-02 4.13763516e-05 9.99927822e-01 4.92555661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.180281693 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:340.16, Y:201.92, Z:4.93 [[ 3.38659383e-01 -9.40900740e-01 -3.95217137e-03 3.40161999e+02] [ 9.40832337e-01 3.38682421e-01 -1.13459702e-02 2.01923360e+02] [ 1.20139627e-02 1.24088638e-04 9.99927822e-01 4.92579623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.240281693 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:340.17, Y:201.98, Z:4.93 [[ 3.42954157e-01 -9.39343841e-01 -3.94912178e-03 3.40174739e+02] [ 9.39275321e-01 3.42976845e-01 -1.13470315e-02 2.01975718e+02] [ 1.20132215e-02 1.82199007e-04 9.99927822e-01 4.92872723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.300281693 meters Centerline goodness : 0.999428 with order 1 Centerline is valid? [True, True] Translation: X:340.19, Y:202.03, Z:4.93 [[ 3.46775795e-01 -9.37939752e-01 -3.94598244e-03 3.40185039e+02] [ 9.37871128e-01 3.46798165e-01 -1.13481231e-02 2.02030306e+02] [ 1.20123153e-02 2.34431415e-04 9.99927822e-01 4.93033680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.36028169299993 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:340.20, Y:202.08, Z:4.93 [[ 3.47167709e-01 -9.37794772e-01 -3.94300195e-03 3.40195405e+02] [ 9.37726127e-01 3.47190015e-01 -1.13491586e-02 2.02084380e+02] [ 1.20121526e-02 2.42605452e-04 9.99927822e-01 4.92691354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.42028169299994 meters Centerline goodness : 0.999427 with order 1 Centerline is valid? [True, True] Translation: X:340.20, Y:202.14, Z:4.93 [[ 3.46428605e-01 -9.38068067e-01 -3.94000591e-03 3.40204530e+02] [ 9.37999428e-01 3.46450929e-01 -1.13501987e-02 2.02140058e+02] [ 1.20122776e-02 2.36310201e-04 9.99927822e-01 4.93083044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.48028169299994 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:340.21, Y:202.19, Z:4.93 [[ 3.44563830e-01 -9.38754636e-01 -3.93706824e-03 3.40211708e+02] [ 9.38686030e-01 3.44586255e-01 -1.13512176e-02 2.02194794e+02] [ 1.20126677e-02 2.15548044e-04 9.99927822e-01 4.92935223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.54028169299994 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:340.22, Y:202.25, Z:4.93 [[ 3.43035297e-01 -9.39314276e-01 -3.93402411e-03 3.40223162e+02] [ 9.39245694e-01 3.43057796e-01 -1.13522725e-02 2.02248720e+02] [ 1.20129493e-02 1.99214954e-04 9.99927822e-01 4.92880174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.60028169299994 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:340.24, Y:202.30, Z:4.93 [[ 3.41306143e-01 -9.39943968e-01 -3.93115681e-03 3.40235734e+02] [ 9.39875417e-01 3.41328734e-01 -1.13532653e-02 2.02303513e+02] [ 1.20132500e-02 1.80141544e-04 9.99927822e-01 4.92812436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.66028169299994 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:340.25, Y:202.36, Z:4.93 [[ 3.38313407e-01 -9.41025296e-01 -3.92823002e-03 3.40248293e+02] [ 9.40956805e-01 3.38336181e-01 -1.13542779e-02 2.02357246e+02] [ 1.20137251e-02 1.45009674e-04 9.99927822e-01 4.93253638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.72028169299995 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:340.26, Y:202.41, Z:4.93 [[ 3.31343795e-01 -9.43501925e-01 -3.92519797e-03 3.40263471e+02] [ 9.43433592e-01 3.31367039e-01 -1.13553260e-02 2.02410017e+02] [ 1.20144531e-02 5.93531859e-05 9.99927822e-01 4.93485670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.78028169299995 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:340.28, Y:202.46, Z:4.93 [[ 3.26554770e-01 -9.45170142e-01 -3.92235124e-03 3.40280599e+02] [ 9.45101916e-01 3.26578326e-01 -1.13563092e-02 2.02462245e+02] [ 1.20145993e-02 1.43526686e-06 9.99927822e-01 4.93295275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.84028169299995 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:340.30, Y:202.51, Z:4.93 [[ 3.21010268e-01 -9.47067604e-01 -3.91949161e-03 3.40298639e+02] [ 9.46999505e-01 3.21034188e-01 -1.13572961e-02 2.02514348e+02] [ 1.20144180e-02 -6.59479521e-05 9.99927822e-01 4.93380261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.90028169299995 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:340.32, Y:202.57, Z:4.93 [[ 3.17181593e-01 -9.48356735e-01 -3.91663504e-03 3.40320558e+02] [ 9.48288721e-01 3.17205754e-01 -1.13582811e-02 2.02565123e+02] [ 1.20140816e-02 -1.11463136e-04 9.99927822e-01 4.93457723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.96028169299996 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:340.34, Y:202.62, Z:4.93 [[ 3.17542325e-01 -9.48236023e-01 -3.91370376e-03 3.40339064e+02] [ 9.48167987e-01 3.17566425e-01 -1.13592911e-02 2.02616190e+02] [ 1.20141499e-02 -1.03792930e-04 9.99927822e-01 4.93359024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.02028169299996 meters Centerline goodness : 0.999237 with order 1 Centerline is valid? [True, True] Translation: X:340.36, Y:202.67, Z:4.93 [[ 3.20012121e-01 -9.47405377e-01 -3.91068436e-03 3.40359268e+02] [ 9.47337267e-01 3.20036008e-01 -1.13603304e-02 2.02667065e+02] [ 1.20143980e-02 -6.92935850e-05 9.99927822e-01 4.93326563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.08028169299996 meters Centerline goodness : 0.999151 with order 1 Centerline is valid? [True, True] Translation: X:340.38, Y:202.72, Z:4.93 [[ 3.22162087e-01 -9.46676460e-01 -3.90770179e-03 3.40377001e+02] [ 9.46608283e-01 3.22185783e-01 -1.13613563e-02 2.02718693e+02] [ 1.20145345e-02 -3.88646246e-05 9.99927822e-01 4.93164665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.14028169299996 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:340.40, Y:202.77, Z:4.93 [[ 3.24227551e-01 -9.45971062e-01 -3.90458132e-03 3.40397813e+02] [ 9.45902820e-01 3.24251061e-01 -1.13624286e-02 2.02768239e+02] [ 1.20145933e-02 -9.34208062e-06 9.99927822e-01 4.93143289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.20028169299997 meters Centerline goodness : 0.998873 with order 1 Centerline is valid? [True, True] Translation: X:340.42, Y:202.82, Z:4.93 [[ 3.22905667e-01 -9.46423113e-01 -3.90136239e-03 3.40417940e+02] [ 9.46354891e-01 3.22929233e-01 -1.13635337e-02 2.02818819e+02] [ 1.20145750e-02 -2.27239404e-05 9.99927822e-01 4.93256089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.26028169299997 meters Centerline goodness : 0.998835 with order 1 Centerline is valid? [True, True] Translation: X:340.44, Y:202.87, Z:4.94 [[ 3.22585537e-01 -9.46532289e-01 -3.89826509e-03 3.40441084e+02] [ 9.46464062e-01 3.22609089e-01 -1.13645962e-02 2.02869482e+02] [ 1.20145730e-02 -2.35134551e-05 9.99927822e-01 4.93596474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.32028169299997 meters Centerline goodness : 0.998492 with order 1 Centerline is valid? [True, True] Translation: X:340.46, Y:202.92, Z:4.94 [[ 3.25367278e-01 -9.45579696e-01 -3.89533069e-03 3.40460934e+02] [ 9.45511388e-01 3.25390595e-01 -1.13656019e-02 2.02921016e+02] [ 1.20145863e-02 1.49154209e-05 9.99927822e-01 4.93630588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.380281693 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:340.48, Y:202.97, Z:4.94 [[ 3.29814534e-01 -9.44037723e-01 -3.89234553e-03 3.40484125e+02] [ 9.43969294e-01 3.29837493e-01 -1.13666241e-02 2.02971264e+02] [ 1.20143634e-02 7.46231726e-05 9.99927822e-01 4.93608885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.440281693 meters Centerline goodness : 0.998780 with order 1 Centerline is valid? [True, True] Translation: X:340.51, Y:203.02, Z:4.94 [[ 3.31526446e-01 -9.43437909e-01 -3.88936731e-03 3.40505152e+02] [ 9.43369427e-01 3.31549245e-01 -1.13676431e-02 2.03021193e+02] [ 1.20141822e-02 9.95641058e-05 9.99927822e-01 4.93883244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.500281693 meters Centerline goodness : 0.998861 with order 1 Centerline is valid? [True, True] Translation: X:340.52, Y:203.07, Z:4.94 [[ 3.34539148e-01 -9.42373841e-01 -3.88629536e-03 3.40524982e+02] [ 9.42305273e-01 3.34561691e-01 -1.13686932e-02 2.03070895e+02] [ 1.20137646e-02 1.41196331e-04 9.99927822e-01 4.93957679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.560281693 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:340.54, Y:203.12, Z:4.94 [[ 3.38102075e-01 -9.41101434e-01 -3.88303359e-03 3.40542916e+02] [ 9.41032769e-01 3.38124319e-01 -1.13698072e-02 2.03123650e+02] [ 1.20130899e-02 1.90093553e-04 9.99927822e-01 4.94023180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.620281693 meters Centerline goodness : 0.998626 with order 1 Centerline is valid? [True, True] Translation: X:340.56, Y:203.18, Z:4.94 [[ 3.46647833e-01 -9.37987327e-01 -3.88008670e-03 3.40556128e+02] [ 9.37918451e-01 3.46669415e-01 -1.13708127e-02 2.03178260e+02] [ 1.20107856e-02 3.02462684e-04 9.99927822e-01 4.94347991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.680281693 meters Centerline goodness : 0.998759 with order 1 Centerline is valid? [True, True] Translation: X:340.57, Y:203.23, Z:4.94 [[ 3.50319022e-01 -9.36622416e-01 -3.87715276e-03 3.40570141e+02] [ 9.36553446e-01 3.50340299e-01 -1.13718131e-02 2.03232409e+02] [ 1.20094179e-02 3.52601650e-04 9.99927822e-01 4.93714929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.740281693 meters Centerline goodness : 0.998856 with order 1 Centerline is valid? [True, True] Translation: X:340.58, Y:203.29, Z:4.94 [[ 3.48523324e-01 -9.37292101e-01 -3.87418760e-03 3.40583722e+02] [ 9.37223161e-01 3.48544697e-01 -1.13728231e-02 2.03285046e+02] [ 1.20099849e-02 3.32715774e-04 9.99927822e-01 4.93716995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.800281693 meters Centerline goodness : 0.998773 with order 1 Centerline is valid? [True, True] Translation: X:340.60, Y:203.34, Z:4.94 [[ 3.44325111e-01 -9.38842496e-01 -3.87111976e-03 3.40599205e+02] [ 9.38773640e-01 3.44346755e-01 -1.13738673e-02 2.03337939e+02] [ 1.20112775e-02 2.82202926e-04 9.99927822e-01 4.93789756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.86028169299993 meters Centerline goodness : 0.998634 with order 1 Centerline is valid? [True, True] Translation: X:340.61, Y:203.39, Z:4.94 [[ 3.41674401e-01 -9.39810428e-01 -3.86821367e-03 3.40614342e+02] [ 9.39741622e-01 3.41696205e-01 -1.13748556e-02 2.03391074e+02] [ 1.20119618e-02 2.51375573e-04 9.99927822e-01 4.93747506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.92028169299994 meters Centerline goodness : 0.998746 with order 1 Centerline is valid? [True, True] Translation: X:340.63, Y:203.44, Z:4.94 [[ 3.39579942e-01 -9.40569255e-01 -3.86530419e-03 3.40629017e+02] [ 9.40500486e-01 3.39601863e-01 -1.13758441e-02 2.03444786e+02] [ 1.20124338e-02 2.27688022e-04 9.99927822e-01 4.94345734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.98028169299994 meters Centerline goodness : 0.998984 with order 1 Centerline is valid? [True, True] Translation: X:340.65, Y:203.50, Z:4.95 [[ 3.37649094e-01 -9.41264135e-01 -3.86234393e-03 3.40645712e+02] [ 9.41195400e-01 3.37671121e-01 -1.13768491e-02 2.03497482e+02] [ 1.20128221e-02 2.06162462e-04 9.99927822e-01 4.94646592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.04028169299994 meters Centerline goodness : 0.998789 with order 1 Centerline is valid? [True, True] Translation: X:340.66, Y:203.55, Z:4.95 [[ 3.36447258e-01 -9.41694402e-01 -3.85939937e-03 3.40661478e+02] [ 9.41625685e-01 3.36469337e-01 -1.13778479e-02 2.03550767e+02] [ 1.20130253e-02 1.93936172e-04 9.99927822e-01 4.94588347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.10028169299994 meters Centerline goodness : 0.998724 with order 1 Centerline is valid? [True, True] Translation: X:340.68, Y:203.60, Z:4.94 [[ 3.36553991e-01 -9.41656274e-01 -3.85645891e-03 3.40676609e+02] [ 9.41587543e-01 3.36576027e-01 -1.13788445e-02 2.03604002e+02] [ 1.20129519e-02 1.98401857e-04 9.99927822e-01 4.94341607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.16028169299994 meters Centerline goodness : 0.998821 with order 1 Centerline is valid? [True, True] Translation: X:340.69, Y:203.66, Z:4.94 [[ 3.37479726e-01 -9.41324909e-01 -3.85350228e-03 3.40689380e+02] [ 9.41256145e-01 3.37501659e-01 -1.13798457e-02 2.03657588e+02] [ 1.20126956e-02 2.13334506e-04 9.99927822e-01 4.94388906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.22028169299995 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:340.70, Y:203.71, Z:4.95 [[ 3.38799930e-01 -9.40850563e-01 -3.85045380e-03 3.40702146e+02] [ 9.40781756e-01 3.38821729e-01 -1.13808771e-02 2.03711131e+02] [ 1.20123220e-02 2.33403674e-04 9.99927822e-01 4.94587199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.28028169299995 meters Centerline goodness : 0.998837 with order 1 Centerline is valid? [True, True] Translation: X:340.71, Y:203.76, Z:4.95 [[ 3.38026573e-01 -9.41128702e-01 -3.84746241e-03 3.40714226e+02] [ 9.41059901e-01 3.38048392e-01 -1.13818883e-02 2.03764014e+02] [ 1.20124502e-02 2.26688084e-04 9.99927822e-01 4.94542798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.34028169299995 meters Centerline goodness : 0.998860 with order 1 Centerline is valid? [True, True] Translation: X:340.72, Y:203.82, Z:4.95 [[ 3.38905093e-01 -9.40812711e-01 -3.84456111e-03 3.40723015e+02] [ 9.40743879e-01 3.38926813e-01 -1.13828682e-02 2.03818567e+02] [ 1.20121719e-02 2.40964665e-04 9.99927822e-01 4.94744230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.40028169299995 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:340.73, Y:203.87, Z:4.95 [[ 3.40125813e-01 -9.40372094e-01 -3.84150305e-03 3.40733802e+02] [ 9.40303222e-01 3.40147407e-01 -1.13839001e-02 2.03873445e+02] [ 1.20117793e-02 2.59780583e-04 9.99927822e-01 4.94682905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.46028169299996 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:340.74, Y:203.93, Z:4.95 [[ 3.40060556e-01 -9.40395706e-01 -3.83850393e-03 3.40744904e+02] [ 9.40326824e-01 3.40082119e-01 -1.13849113e-02 2.03926785e+02] [ 1.20117282e-02 2.62111056e-04 9.99927822e-01 4.94555781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.52028169299996 meters Centerline goodness : 0.998690 with order 1 Centerline is valid? [True, True] Translation: X:340.76, Y:203.98, Z:4.95 [[ 3.38018342e-01 -9.41131705e-01 -3.83596041e-03 3.40756775e+02] [ 9.41062860e-01 3.38040023e-01 -1.13857682e-02 2.03979942e+02] [ 1.20122156e-02 2.38718627e-04 9.99927822e-01 4.94873896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.58028169299996 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:340.77, Y:204.03, Z:4.95 [[ 3.33107270e-01 -9.42881146e-01 -3.83291460e-03 3.40768965e+02] [ 9.42812404e-01 3.33129273e-01 -1.13867935e-02 2.04032429e+02] [ 1.20132489e-02 1.79304265e-04 9.99927822e-01 4.94966349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.64028169299996 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:340.78, Y:204.08, Z:4.95 [[ 3.30664462e-01 -9.43740614e-01 -3.82977164e-03 3.40783171e+02] [ 9.43671917e-01 3.30686605e-01 -1.13878505e-02 2.04084986e+02] [ 1.20136312e-02 1.51509504e-04 9.99927822e-01 4.94848817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.70028169299997 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:340.80, Y:204.14, Z:4.95 [[ 3.28018231e-01 -9.44663642e-01 -3.82679540e-03 3.40798675e+02] [ 9.44594995e-01 3.28040530e-01 -1.13888505e-02 2.04138361e+02] [ 1.20139770e-02 1.20978816e-04 9.99927822e-01 4.95479776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.76028169299997 meters Centerline goodness : 0.998880 with order 1 Centerline is valid? [True, True] Translation: X:340.82, Y:204.19, Z:4.95 [[ 3.26877653e-01 -9.45058929e-01 -3.82374351e-03 3.40815933e+02] [ 9.44990297e-01 3.26899999e-01 -1.13898751e-02 2.04189621e+02] [ 1.20140849e-02 1.09695125e-04 9.99927822e-01 4.95268612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.82028169299997 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:340.83, Y:204.24, Z:4.95 [[ 3.28235081e-01 -9.44588341e-01 -3.82058038e-03 3.40833929e+02] [ 9.44519665e-01 3.28257290e-01 -1.13909360e-02 2.04242122e+02] [ 1.20138787e-02 1.30291504e-04 9.99927822e-01 4.95362056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.880281693 meters Centerline goodness : 0.999150 with order 1 Centerline is valid? [True, True] Translation: X:340.85, Y:204.29, Z:4.96 [[ 3.32181203e-01 -9.43207864e-01 -3.81746838e-03 3.40848458e+02] [ 9.43139084e-01 3.32203087e-01 -1.13919789e-02 2.04294575e+02] [ 1.20131788e-02 1.83797607e-04 9.99927822e-01 4.95622938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.940281693 meters Centerline goodness : 0.999173 with order 1 Centerline is valid? [True, True] Translation: X:340.86, Y:204.35, Z:4.95 [[ 3.40250936e-01 -9.40326939e-01 -3.81424319e-03 3.40857243e+02] [ 9.40257962e-01 3.40272191e-01 -1.13930586e-02 2.04350031e+02] [ 1.20110808e-02 2.90126324e-04 9.99927822e-01 4.95172858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.000281693 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:340.87, Y:204.40, Z:4.95 [[ 3.41901797e-01 -9.39727958e-01 -3.81129766e-03 3.40866526e+02] [ 9.39658933e-01 3.41922895e-01 -1.13940439e-02 2.04404146e+02] [ 1.20104715e-02 3.14324188e-04 9.99927822e-01 4.94840375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.060281693 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:340.88, Y:204.46, Z:4.95 [[ 3.39300599e-01 -9.40670293e-01 -3.80824809e-03 3.40877176e+02] [ 9.40601315e-01 3.39321851e-01 -1.13950630e-02 2.04458681e+02] [ 1.20112191e-02 2.84308555e-04 9.99927822e-01 4.95155615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.120281693 meters Centerline goodness : 0.999196 with order 1 Centerline is valid? [True, True] Translation: X:340.88, Y:204.51, Z:4.95 [[ 3.35386343e-01 -9.42072991e-01 -3.80529466e-03 3.40882454e+02] [ 9.42004091e-01 3.35407846e-01 -1.13960492e-02 2.04514429e+02] [ 1.20122359e-02 2.37476144e-04 9.99927822e-01 4.95307741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.180281693 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:340.89, Y:204.57, Z:4.95 [[ 3.32566489e-01 -9.43072146e-01 -3.80223912e-03 3.40894732e+02] [ 9.43003299e-01 3.32588161e-01 -1.13970686e-02 2.04568525e+02] [ 1.20128377e-02 2.04759058e-04 9.99927822e-01 4.95453724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.240281693 meters Centerline goodness : 0.999406 with order 1 Centerline is valid? [True, True] Translation: X:340.91, Y:204.62, Z:4.96 [[ 3.27266967e-01 -9.44924282e-01 -3.79929784e-03 3.40906606e+02] [ 9.44855546e-01 3.27288989e-01 -1.13980490e-02 2.04623398e+02] [ 1.20137616e-02 1.40417302e-04 9.99927822e-01 4.95753092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.300281693 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:340.92, Y:204.68, Z:4.96 [[ 3.21885919e-01 -9.46770851e-01 -3.79631469e-03 3.40920518e+02] [ 9.46702229e-01 3.21908296e-01 -1.13990425e-02 2.04677285e+02] [ 1.20143464e-02 7.52116996e-05 9.99927822e-01 4.95802015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.36028169299993 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:340.94, Y:204.73, Z:4.96 [[ 3.18023801e-01 -9.48075141e-01 -3.79335281e-03 3.40936502e+02] [ 9.48006599e-01 3.18046422e-01 -1.14000281e-02 2.04729207e+02] [ 1.20145455e-02 2.93567657e-05 9.99927822e-01 4.96300383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.42028169299994 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:340.96, Y:204.78, Z:4.96 [[ 3.09852857e-01 -9.50776967e-01 -3.79029015e-03 3.40958553e+02] [ 9.50708610e-01 3.09876030e-01 -1.14010463e-02 2.04780395e+02] [ 1.20143723e-02 -7.08147157e-05 9.99927822e-01 4.96203344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.48028169299994 meters Centerline goodness : 0.999368 with order 1 Centerline is valid? [True, True] Translation: X:340.98, Y:204.83, Z:4.96 [[ 3.03586553e-01 -9.52796338e-01 -3.78732810e-03 3.40979453e+02] [ 9.52728123e-01 3.03610140e-01 -1.14020302e-02 2.04830814e+02] [ 1.20136838e-02 -1.46790962e-04 9.99927822e-01 4.95719022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.54028169299994 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:341.01, Y:204.88, Z:4.96 [[ 2.95868759e-01 -9.55221104e-01 -3.78427579e-03 3.41005690e+02] [ 9.55153069e-01 2.95892861e-01 -1.14030431e-02 2.04880932e+02] [ 1.20121676e-02 -2.40758424e-04 9.99927822e-01 4.95842147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.60028169299994 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:341.03, Y:204.93, Z:4.96 [[ 2.95001402e-01 -9.55489338e-01 -3.78129711e-03 3.41028645e+02] [ 9.55421313e-01 2.95025530e-01 -1.14040308e-02 2.04931009e+02] [ 1.20120090e-02 -2.48526783e-04 9.99927822e-01 4.96066133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.66028169299994 meters Centerline goodness : 0.999447 with order 1 Centerline is valid? [True, True] Translation: X:341.05, Y:204.98, Z:4.96 [[ 2.99116298e-01 -9.54209181e-01 -3.77877902e-03 3.41052349e+02] [ 9.54141042e-01 2.99140103e-01 -1.14048651e-02 2.04981595e+02] [ 1.20130113e-02 -1.94107117e-04 9.99927822e-01 4.95978776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.72028169299995 meters Centerline goodness : 0.999346 with order 1 Centerline is valid? [True, True] Translation: X:341.07, Y:205.03, Z:4.96 [[ 3.00533134e-01 -9.53763901e-01 -3.77578592e-03 3.41073053e+02] [ 9.53695714e-01 3.00556802e-01 -1.14058559e-02 2.05032056e+02] [ 1.20133318e-02 -1.73113223e-04 9.99927822e-01 4.96083678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.78028169299995 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:341.10, Y:205.08, Z:4.96 [[ 3.00274083e-01 -9.53845502e-01 -3.77268635e-03 3.41096902e+02] [ 9.53777309e-01 3.00297733e-01 -1.14068811e-02 2.05082100e+02] [ 1.20133314e-02 -1.73111876e-04 9.99927822e-01 4.96302025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.84028169299995 meters Centerline goodness : 0.999045 with order 1 Centerline is valid? [True, True] Translation: X:341.12, Y:205.13, Z:4.96 [[ 3.00590003e-01 -9.53746004e-01 -3.76959808e-03 3.41117869e+02] [ 9.53677790e-01 3.00613593e-01 -1.14079016e-02 2.05133261e+02] [ 1.20134329e-02 -1.65880802e-04 9.99927822e-01 4.96296442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.90028169299995 meters Centerline goodness : 0.999274 with order 1 Centerline is valid? [True, True] Translation: X:341.14, Y:205.18, Z:4.96 [[ 3.04199404e-01 -9.52600932e-01 -3.76664606e-03 3.41140451e+02] [ 9.52532617e-01 3.04222700e-01 -1.14088762e-02 2.05183832e+02] [ 1.20140053e-02 -1.17279900e-04 9.99927822e-01 4.96460859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.96028169299996 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:341.16, Y:205.23, Z:4.97 [[ 3.06682501e-01 -9.51804433e-01 -3.76367511e-03 3.41160936e+02] [ 9.51736045e-01 3.06705584e-01 -1.14098562e-02 2.05234163e+02] [ 1.20142918e-02 -8.28220328e-05 9.99927822e-01 4.96879664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.02028169299996 meters Centerline goodness : 0.999449 with order 1 Centerline is valid? [True, True] Translation: X:341.18, Y:205.29, Z:4.97 [[ 3.10538897e-01 -9.50553234e-01 -3.76059054e-03 3.41181352e+02] [ 9.50484742e-01 3.10561665e-01 -1.14108727e-02 2.05285682e+02] [ 1.20145372e-02 -3.08640913e-05 9.99927822e-01 4.96987306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.08028169299996 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:341.20, Y:205.34, Z:4.96 [[ 3.10842028e-01 -9.50454162e-01 -3.75760769e-03 3.41201883e+02] [ 9.50385650e-01 3.10864739e-01 -1.14118549e-02 2.05336111e+02] [ 1.20145527e-02 -2.38923033e-05 9.99927822e-01 4.96420106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.14028169299996 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:341.22, Y:205.39, Z:4.97 [[ 3.08356083e-01 -9.51263596e-01 -3.75451363e-03 3.41220286e+02] [ 9.51195132e-01 3.08378935e-01 -1.14128728e-02 2.05387171e+02] [ 1.20144633e-02 -5.20463465e-05 9.99927822e-01 4.96502856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.20028169299997 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:341.24, Y:205.44, Z:4.97 [[ 3.03767101e-01 -9.52738933e-01 -3.75143759e-03 3.41242553e+02] [ 9.52670567e-01 3.03790246e-01 -1.14138838e-02 2.05437818e+02] [ 1.20141016e-02 -1.06721793e-04 9.99927822e-01 4.96908075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.26028169299997 meters Centerline goodness : 0.999344 with order 1 Centerline is valid? [True, True] Translation: X:341.26, Y:205.49, Z:4.97 [[ 3.01495186e-01 -9.53460331e-01 -3.74832983e-03 3.41263865e+02] [ 9.53392008e-01 3.01518457e-01 -1.14149043e-02 2.05487793e+02] [ 1.20138490e-02 -1.32089015e-04 9.99927822e-01 4.96912025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.32028169299997 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:341.29, Y:205.54, Z:4.97 [[ 2.99462680e-01 -9.54100664e-01 -3.74512295e-03 3.41289391e+02] [ 9.54032377e-01 2.99486058e-01 -1.14159563e-02 2.05537387e+02] [ 1.20135836e-02 -1.54315682e-04 9.99927822e-01 4.96775671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.380281693 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:341.31, Y:205.59, Z:4.97 [[ 2.99378626e-01 -9.54127054e-01 -3.74217001e-03 3.41309129e+02] [ 9.54058757e-01 2.99401975e-01 -1.14169242e-02 2.05588062e+02] [ 1.20136094e-02 -1.52266984e-04 9.99927822e-01 4.96873142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.440281693 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:341.33, Y:205.64, Z:4.97 [[ 3.02182605e-01 -9.53242725e-01 -3.73911763e-03 3.41332165e+02] [ 9.53174347e-01 3.02205716e-01 -1.14179238e-02 2.05638445e+02] [ 1.20140355e-02 -1.13733054e-04 9.99927822e-01 4.97043127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.500281693 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:341.35, Y:205.69, Z:4.97 [[ 3.06431076e-01 -9.51885517e-01 -3.73616948e-03 3.41351391e+02] [ 9.51817025e-01 3.06453847e-01 -1.14188884e-02 2.05690401e+02] [ 1.20144380e-02 -5.70474506e-05 9.99927822e-01 4.97161483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.560281693 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:341.37, Y:205.74, Z:4.98 [[ 3.13808371e-01 -9.49478999e-01 -3.73322107e-03 3.41370123e+02] [ 9.49410321e-01 3.13830574e-01 -1.14198523e-02 2.05741673e+02] [ 1.20145088e-02 3.92866221e-05 9.99927822e-01 4.97620248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.620281693 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:341.39, Y:205.79, Z:4.98 [[ 3.19664712e-01 -9.47523381e-01 -3.73015976e-03 3.41386837e+02] [ 9.47454556e-01 3.19686454e-01 -1.14208521e-02 2.05794225e+02] [ 1.20140060e-02 1.16686555e-04 9.99927822e-01 4.97924416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.680281693 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:341.40, Y:205.85, Z:4.98 [[ 3.21231794e-01 -9.46993264e-01 -3.72719489e-03 3.41402455e+02] [ 9.46924392e-01 3.21253385e-01 -1.14218196e-02 2.05846006e+02] [ 1.20137602e-02 1.39679844e-04 9.99927822e-01 4.97947636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.740281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:341.42, Y:205.90, Z:4.97 [[ 3.22709952e-01 -9.46490580e-01 -3.72413789e-03 3.41416694e+02] [ 9.46421663e-01 3.22731399e-01 -1.14228163e-02 2.05898878e+02] [ 1.20134842e-02 1.61651716e-04 9.99927822e-01 4.97486917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.800281693 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:341.43, Y:205.95, Z:4.98 [[ 3.23390720e-01 -9.46258208e-01 -3.72105858e-03 3.41429203e+02] [ 9.46189264e-01 3.23412081e-01 -1.14238193e-02 2.05952166e+02] [ 1.20133181e-02 1.73531472e-04 9.99927822e-01 4.97676908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.86028169299993 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:341.44, Y:206.01, Z:4.98 [[ 3.22821544e-01 -9.46452549e-01 -3.71798894e-03 3.41440434e+02] [ 9.46383606e-01 3.22842909e-01 -1.14248183e-02 2.06006305e+02] [ 1.20133747e-02 1.69533689e-04 9.99927822e-01 4.97993882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.92028169299994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:341.45, Y:206.06, Z:4.98 [[ 3.20620118e-01 -9.47200580e-01 -3.71489971e-03 3.41454931e+02] [ 9.47131676e-01 3.20641606e-01 -1.14258227e-02 2.06059664e+02] [ 1.20136973e-02 1.44849425e-04 9.99927822e-01 4.98024354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.98028169299994 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:341.47, Y:206.11, Z:4.98 [[ 3.15309016e-01 -9.48981794e-01 -3.71195778e-03 3.41469159e+02] [ 9.48913000e-01 3.15330854e-01 -1.14267783e-02 2.06111991e+02] [ 1.20142994e-02 8.06412434e-05 9.99927822e-01 4.98113896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.04028169299994 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:341.48, Y:206.17, Z:4.98 [[ 3.11634718e-01 -9.50194740e-01 -3.70940891e-03 3.41484497e+02] [ 9.50126020e-01 3.11656792e-01 -1.14276057e-02 2.06165692e+02] [ 1.20145133e-02 3.68327551e-05 9.99927822e-01 4.98132716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.10028169299994 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:341.50, Y:206.22, Z:4.98 [[ 3.10171530e-01 -9.50673385e-01 -3.70640438e-03 3.41500547e+02] [ 9.50604688e-01 3.10193674e-01 -1.14285801e-02 2.06217723e+02] [ 1.20145501e-02 2.14948047e-05 9.99927822e-01 4.97802746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.16028169299994 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:341.52, Y:206.27, Z:4.98 [[ 3.09743600e-01 -9.50812909e-01 -3.70329459e-03 3.41516538e+02] [ 9.50744210e-01 3.09765736e-01 -1.14295877e-02 2.06270281e+02] [ 1.20145533e-02 1.93557531e-05 9.99927822e-01 4.98055106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.22028169299995 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:341.54, Y:206.32, Z:4.99 [[ 3.06456717e-01 -9.51877403e-01 -3.70011868e-03 3.41535426e+02] [ 9.51808768e-01 3.06479053e-01 -1.14306158e-02 2.06320658e+02] [ 1.20145537e-02 -1.88164179e-05 9.99927822e-01 4.98505884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.28028169299995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:341.56, Y:206.37, Z:4.99 [[ 3.01958870e-01 -9.53313786e-01 -3.69683497e-03 3.41555601e+02] [ 9.53245245e-01 3.01981490e-01 -1.14316777e-02 2.06371691e+02] [ 1.20143516e-02 -7.20938861e-05 9.99927822e-01 4.98724456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.34028169299995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:341.58, Y:206.42, Z:4.99 [[ 2.98476700e-01 -9.54409774e-01 -3.69373939e-03 3.41576806e+02] [ 9.54341303e-01 2.98499533e-01 -1.14326778e-02 2.06422058e+02] [ 1.20140389e-02 -1.12700120e-04 9.99927822e-01 4.98599763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.40028169299995 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:341.59, Y:206.47, Z:4.99 [[ 3.01261787e-01 -9.53534328e-01 -3.69062805e-03 3.41593161e+02] [ 9.53465779e-01 3.01284383e-01 -1.14336821e-02 2.06474167e+02] [ 1.20143370e-02 -7.43560548e-05 9.99927822e-01 4.98511578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.46028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.61, Y:206.53, Z:4.98 [[ 3.02869331e-01 -9.53024958e-01 -3.68751374e-03 3.41611480e+02] [ 9.52956359e-01 3.02891774e-01 -1.14346864e-02 2.06525879e+02] [ 1.20144591e-02 -5.08238506e-05 9.99927822e-01 4.98368008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.52028169299996 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:341.63, Y:206.58, Z:4.98 [[ 3.01311835e-01 -9.53518538e-01 -3.68440637e-03 3.41627743e+02] [ 9.53449963e-01 3.01334353e-01 -1.14356876e-02 2.06577903e+02] [ 1.20143783e-02 -6.71891088e-05 9.99927823e-01 4.98257413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.58028169299996 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:341.64, Y:206.63, Z:4.98 [[ 2.99662457e-01 -9.54038186e-01 -3.68131829e-03 3.41642797e+02] [ 9.53969637e-01 2.99685057e-01 -1.14366816e-02 2.06631007e+02] [ 1.20142670e-02 -8.47217640e-05 9.99927823e-01 4.98223671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.64028169299996 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:341.66, Y:206.68, Z:4.99 [[ 2.94772092e-01 -9.55560508e-01 -3.67833934e-03 3.41660754e+02] [ 9.55492064e-01 2.94795006e-01 -1.14376396e-02 2.06681013e+02] [ 1.20137128e-02 -1.43127100e-04 9.99927823e-01 4.98711639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.70028169299997 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:341.68, Y:206.73, Z:4.99 [[ 2.90965959e-01 -9.56726349e-01 -3.67481705e-03 3.41678930e+02] [ 9.56657983e-01 2.90989104e-01 -1.14387712e-02 2.06731907e+02] [ 1.20131055e-02 -1.87250044e-04 9.99927823e-01 4.98626563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.76028169299997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:341.70, Y:206.78, Z:4.99 [[ 2.89435920e-01 -9.57190350e-01 -3.67187179e-03 3.41697465e+02] [ 9.57122009e-01 2.89459139e-01 -1.14397165e-02 2.06783750e+02] [ 1.20128431e-02 -2.03364427e-04 9.99927823e-01 4.98942162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.82028169299997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:341.72, Y:206.83, Z:4.99 [[ 2.86261396e-01 -9.58144536e-01 -3.66885185e-03 3.41716579e+02] [ 9.58076261e-01 2.86284805e-01 -1.14406850e-02 2.06834987e+02] [ 1.20121663e-02 -2.40013411e-04 9.99927823e-01 4.99111970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.880281693 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:341.74, Y:206.89, Z:4.99 [[ 2.83331393e-01 -9.59015059e-01 -3.66572589e-03 3.41736782e+02] [ 9.58946842e-01 2.83354974e-01 -1.14416865e-02 2.06886653e+02] [ 1.20114513e-02 -2.73447295e-04 9.99927823e-01 4.98649059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.940281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:341.76, Y:206.94, Z:4.99 [[ 2.80771684e-01 -9.59767600e-01 -3.66278251e-03 3.41758752e+02] [ 9.59699434e-01 2.80795412e-01 -1.14426287e-02 2.06936333e+02] [ 1.20107568e-02 -3.02404179e-04 9.99927823e-01 4.98939497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.000281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:341.78, Y:206.99, Z:4.99 [[ 2.81796845e-01 -9.59467116e-01 -3.65946917e-03 3.41776846e+02] [ 9.59398911e-01 2.81820461e-01 -1.14436882e-02 2.06988091e+02] [ 1.20111558e-02 -2.86095504e-04 9.99927823e-01 4.99241754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.060281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:341.80, Y:207.04, Z:4.99 [[ 2.85572280e-01 -9.58350199e-01 -3.65629153e-03 3.41796776e+02] [ 9.58281889e-01 2.85595588e-01 -1.14447034e-02 2.07038845e+02] [ 1.20122545e-02 -2.35467920e-04 9.99927823e-01 4.99482657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.120281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:341.82, Y:207.09, Z:4.99 [[ 2.88094039e-01 -9.57595154e-01 -3.65315430e-03 3.41815837e+02] [ 9.57526770e-01 2.88117131e-01 -1.14457047e-02 2.07089743e+02] [ 1.20128877e-02 -2.00553734e-04 9.99927823e-01 4.99244542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.180281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:341.83, Y:207.14, Z:4.99 [[ 2.88942036e-01 -9.57339635e-01 -3.64998792e-03 3.41834172e+02] [ 9.57271218e-01 2.88965029e-01 -1.14467144e-02 2.07140647e+02] [ 1.20131122e-02 -1.86591432e-04 9.99927823e-01 4.99315922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.240281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:341.85, Y:207.19, Z:4.99 [[ 2.88577163e-01 -9.57449696e-01 -3.64703037e-03 3.41853975e+02] [ 9.57381276e-01 2.88600146e-01 -1.14476566e-02 2.07192800e+02] [ 1.20130888e-02 -1.88066328e-04 9.99927823e-01 4.99348180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.300281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:341.87, Y:207.25, Z:4.99 [[ 2.88291417e-01 -9.57535786e-01 -3.64394488e-03 3.41872745e+02] [ 9.57467360e-01 2.88314384e-01 -1.14486386e-02 2.07245507e+02] [ 1.20130829e-02 -1.88414029e-04 9.99927823e-01 4.99350042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.36028169299993 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:341.89, Y:207.30, Z:4.99 [[ 2.88316179e-01 -9.57528342e-01 -3.64089180e-03 3.41891764e+02] [ 9.57459903e-01 2.88339107e-01 -1.14496095e-02 2.07296622e+02] [ 1.20131371e-02 -1.84900253e-04 9.99927823e-01 4.99437337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.42028169299994 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:341.91, Y:207.35, Z:4.99 [[ 2.90007652e-01 -9.57017411e-01 -3.63829321e-03 3.41912091e+02] [ 9.56948921e-01 2.90030428e-01 -1.14504352e-02 2.07347739e+02] [ 1.20134816e-02 -1.60946944e-04 9.99927823e-01 4.98954132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.48028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:341.93, Y:207.40, Z:4.99 [[ 2.94112878e-01 -9.55763779e-01 -3.63515803e-03 3.41931909e+02] [ 9.55695180e-01 2.94135323e-01 -1.14514304e-02 2.07399450e+02] [ 1.20140908e-02 -1.06089849e-04 9.99927823e-01 4.99335333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.54028169299994 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:341.95, Y:207.45, Z:5.00 [[ 2.98779466e-01 -9.54315272e-01 -3.63216731e-03 3.41947891e+02] [ 9.54246553e-01 2.98801540e-01 -1.14523789e-02 2.07450517e+02] [ 1.20144773e-02 -4.42474671e-05 9.99927823e-01 4.99720496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.60028169299994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:341.96, Y:207.50, Z:5.00 [[ 3.06062616e-01 -9.52004468e-01 -3.62878130e-03 3.41963055e+02] [ 9.51935569e-01 3.06084123e-01 -1.14534517e-02 2.07504326e+02] [ 1.20144496e-02 5.11074119e-05 9.99927823e-01 5.00259514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.66028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:341.98, Y:207.56, Z:5.00 [[ 3.10100822e-01 -9.50696762e-01 -3.62575991e-03 3.41975450e+02] [ 9.50627762e-01 3.10122000e-01 -1.14544081e-02 2.07557184e+02] [ 1.20140966e-02 1.05273353e-04 9.99927823e-01 5.00044859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.72028169299995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:341.98, Y:207.61, Z:5.00 [[ 3.11772877e-01 -9.50149751e-01 -3.62264934e-03 3.41984054e+02] [ 9.50080702e-01 3.11793896e-01 -1.14553918e-02 2.07610827e+02] [ 1.20138576e-02 1.29671239e-04 9.99927823e-01 4.99848922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.78028169299995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:341.99, Y:207.67, Z:5.00 [[ 3.07770314e-01 -9.51453800e-01 -3.61933524e-03 3.41993254e+02] [ 9.51384828e-01 3.07791584e-01 -1.14564388e-02 2.07665098e+02] [ 1.20142732e-02 8.25711294e-05 9.99927823e-01 4.99710840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.84028169299995 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:342.01, Y:207.72, Z:5.00 [[ 3.02610232e-01 -9.53107534e-01 -3.61621535e-03 3.42005647e+02] [ 9.53038666e-01 3.02631837e-01 -1.14574235e-02 2.07718332e+02] [ 1.20145385e-02 2.07405321e-05 9.99927823e-01 4.99630617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.90028169299995 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:342.02, Y:207.77, Z:5.00 [[ 2.94240431e-01 -9.55724602e-01 -3.61306301e-03 3.42020992e+02] [ 9.55655914e-01 2.94262602e-01 -1.14584175e-02 2.07770530e+02] [ 1.20142808e-02 -8.13153313e-05 9.99927823e-01 5.00057046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.96028169299996 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:342.04, Y:207.82, Z:5.00 [[ 2.91124941e-01 -9.56678231e-01 -3.60993505e-03 3.42037804e+02] [ 9.56609603e-01 2.91147298e-01 -1.14594029e-02 2.07823018e+02] [ 1.20139841e-02 -1.17180554e-04 9.99927823e-01 4.99686036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.02028169299996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:342.06, Y:207.87, Z:5.00 [[ 2.89651989e-01 -9.57125235e-01 -3.60682453e-03 3.42056322e+02] [ 9.57056630e-01 2.89674415e-01 -1.14603818e-02 2.07874561e+02] [ 1.20138254e-02 -1.32412943e-04 9.99927823e-01 4.99920883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.08028169299996 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:342.08, Y:207.92, Z:5.00 [[ 2.90358974e-01 -9.56911010e-01 -3.60357981e-03 3.42075636e+02] [ 9.56842375e-01 2.90381310e-01 -1.14614020e-02 2.07924715e+02] [ 1.20139540e-02 -1.20136943e-04 9.99927823e-01 4.99872444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.14028169299996 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:342.10, Y:207.98, Z:5.00 [[ 2.93600730e-01 -9.55921360e-01 -3.60057379e-03 3.42095176e+02] [ 9.55852639e-01 2.93622797e-01 -1.14623462e-02 2.07975078e+02] [ 1.20143122e-02 -7.62647441e-05 9.99927823e-01 5.00015659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.20028169299997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:342.11, Y:208.03, Z:5.00 [[ 2.98549590e-01 -9.54387344e-01 -3.59726262e-03 3.42110049e+02] [ 9.54318497e-01 2.98571261e-01 -1.14633853e-02 2.08027450e+02] [ 1.20145491e-02 -1.05452740e-05 9.99927823e-01 5.00370290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.26028169299997 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:342.12, Y:208.08, Z:5.00 [[ 3.06502780e-01 -9.51862978e-01 -3.59401639e-03 3.42119937e+02] [ 9.51793940e-01 3.06523837e-01 -1.14644030e-02 2.08080771e+02] [ 1.20141924e-02 9.31083613e-05 9.99927823e-01 5.00273661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.32028169299997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:342.13, Y:208.14, Z:5.01 [[ 3.10972191e-01 -9.50412228e-01 -3.59065581e-03 3.42129885e+02] [ 9.50343080e-01 3.10992883e-01 -1.14654554e-02 2.08135854e+02] [ 1.20135774e-02 1.53082890e-04 9.99927823e-01 5.00683743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.380281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:342.14, Y:208.19, Z:5.00 [[ 3.10385006e-01 -9.50604164e-01 -3.58767072e-03 3.42140937e+02] [ 9.50535018e-01 3.10405705e-01 -1.14663894e-02 2.08191052e+02] [ 1.20136310e-02 1.48788696e-04 9.99927823e-01 5.00395079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.440281693 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:342.15, Y:208.25, Z:5.00 [[ 3.09861189e-01 -9.50775049e-01 -3.58459807e-03 3.42150134e+02] [ 9.50705904e-01 3.09881888e-01 -1.14673499e-02 2.08245686e+02] [ 1.20136722e-02 1.45388125e-04 9.99927823e-01 5.00048714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.500281693 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:342.16, Y:208.30, Z:5.00 [[ 3.10019943e-01 -9.50723308e-01 -3.58141051e-03 3.42161377e+02] [ 9.50654147e-01 3.10040593e-01 -1.14683453e-02 2.08298494e+02] [ 1.20136058e-02 1.50733014e-04 9.99927823e-01 5.00481342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.560281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:342.17, Y:208.35, Z:5.01 [[ 3.12645768e-01 -9.49863053e-01 -3.57817751e-03 3.42171617e+02] [ 9.49793825e-01 3.12666187e-01 -1.14693539e-02 2.08353683e+02] [ 1.20130907e-02 1.87314074e-04 9.99927823e-01 5.00817926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.620281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:342.18, Y:208.41, Z:5.01 [[ 3.12561425e-01 -9.49890822e-01 -3.57514698e-03 3.42182917e+02] [ 9.49821584e-01 3.12581814e-01 -1.14702985e-02 2.08407669e+02] [ 1.20130572e-02 1.89421086e-04 9.99927823e-01 5.00880292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.680281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:342.20, Y:208.46, Z:5.01 [[ 3.11415110e-01 -9.50267262e-01 -3.57200882e-03 3.42195220e+02] [ 9.50198038e-01 3.11435545e-01 -1.14712757e-02 2.08462450e+02] [ 1.20132283e-02 1.78212814e-04 9.99927823e-01 5.01037627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.740281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.21, Y:208.52, Z:5.01 [[ 3.13590542e-01 -9.49551596e-01 -3.56905370e-03 3.42206683e+02] [ 9.49482315e-01 3.13610782e-01 -1.14721951e-02 2.08517330e+02] [ 1.20127348e-02 2.08818490e-04 9.99927823e-01 5.00785526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.800281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:342.22, Y:208.57, Z:5.01 [[ 3.14853832e-01 -9.49133472e-01 -3.56605697e-03 3.42217637e+02] [ 9.49064153e-01 3.14873944e-01 -1.14731265e-02 2.08571413e+02] [ 1.20123868e-02 2.27941008e-04 9.99927823e-01 5.00975225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.86028169299993 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:342.22, Y:208.63, Z:5.01 [[ 3.15338973e-01 -9.48972411e-01 -3.56295252e-03 3.42223890e+02] [ 9.48903071e-01 3.15359012e-01 -1.14740905e-02 2.08628048e+02] [ 1.20122045e-02 2.37331323e-04 9.99927823e-01 5.01268646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.92028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:342.24, Y:208.68, Z:5.01 [[ 3.14744236e-01 -9.49169844e-01 -3.56000664e-03 3.42235185e+02] [ 9.49100506e-01 3.14764283e-01 -1.14750044e-02 2.08681778e+02] [ 1.20122911e-02 2.32887397e-04 9.99927823e-01 5.01204897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.98028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:342.24, Y:208.74, Z:5.01 [[ 3.13578570e-01 -9.49555595e-01 -3.55696130e-03 3.42241735e+02] [ 9.49486272e-01 3.13598664e-01 -1.14759483e-02 2.08737293e+02] [ 1.20125093e-02 2.21325541e-04 9.99927823e-01 5.01056827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.04028169299994 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:342.25, Y:208.79, Z:5.01 [[ 3.12762210e-01 -9.49824810e-01 -3.55381090e-03 3.42247853e+02] [ 9.49755493e-01 3.12782327e-01 -1.14769238e-02 2.08791200e+02] [ 1.20126363e-02 2.14296641e-04 9.99927823e-01 5.00704070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.10028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:342.26, Y:208.85, Z:5.01 [[ 3.11488463e-01 -9.50243301e-01 -3.55055586e-03 3.42257898e+02] [ 9.50173999e-01 3.11508633e-01 -1.14779307e-02 2.08845290e+02] [ 1.20128556e-02 2.01597150e-04 9.99927823e-01 5.00843042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.16028169299994 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:342.27, Y:208.90, Z:5.02 [[ 3.06860383e-01 -9.51747929e-01 -3.54746495e-03 3.42268731e+02] [ 9.51678715e-01 3.06880853e-01 -1.14788860e-02 2.08899560e+02] [ 1.20136550e-02 1.46368462e-04 9.99927823e-01 5.01559437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.22028169299995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:342.28, Y:208.95, Z:5.02 [[ 3.04470595e-01 -9.52515141e-01 -3.54447461e-03 3.42284032e+02] [ 9.52445968e-01 3.04491202e-01 -1.14798093e-02 2.08953006e+02] [ 1.20139535e-02 1.19343802e-04 9.99927823e-01 5.01752004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.28028169299995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:342.30, Y:209.01, Z:5.02 [[ 2.98942555e-01 -9.54264537e-01 -3.54145637e-03 3.42299013e+02] [ 9.54195474e-01 2.98963526e-01 -1.14807403e-02 2.09006820e+02] [ 1.20144296e-02 5.28401980e-05 9.99927823e-01 5.01829272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.34028169299995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:342.32, Y:209.06, Z:5.01 [[ 2.89460381e-01 -9.57183455e-01 -3.53842778e-03 3.42317983e+02] [ 9.57114592e-01 2.89482001e-01 -1.14816736e-02 2.09057527e+02] [ 1.20143792e-02 -6.31912316e-05 9.99927823e-01 5.01254438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.40028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:342.34, Y:209.11, Z:5.01 [[ 2.79964533e-01 -9.60003832e-01 -3.53585233e-03 3.42340237e+02] [ 9.59935177e-01 2.79986803e-01 -1.14824667e-02 2.09107263e+02] [ 1.20132040e-02 -1.79505595e-04 9.99927823e-01 5.01359469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.46028169299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.36, Y:209.16, Z:5.02 [[ 2.75920731e-01 -9.61173902e-01 -3.53274726e-03 3.42363067e+02] [ 9.61105328e-01 2.75943253e-01 -1.14834220e-02 2.09157904e+02] [ 1.20124033e-02 -2.26828039e-04 9.99927823e-01 5.01755844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.52028169299996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:342.39, Y:209.21, Z:5.02 [[ 2.74506261e-01 -9.61578834e-01 -3.52966269e-03 3.42388737e+02] [ 9.61510282e-01 2.74528847e-01 -1.14843700e-02 2.09206527e+02] [ 1.20121213e-02 -2.41275497e-04 9.99927823e-01 5.01573080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.58028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:342.41, Y:209.26, Z:5.02 [[ 2.76565223e-01 -9.60988679e-01 -3.52647922e-03 3.42411307e+02] [ 9.60920066e-01 2.76587623e-01 -1.14853474e-02 2.09257440e+02] [ 1.20126694e-02 -2.12216968e-04 9.99927823e-01 5.01847513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.64028169299996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:342.43, Y:209.31, Z:5.02 [[ 2.80239846e-01 -9.59923546e-01 -3.52352839e-03 3.42434540e+02] [ 9.59854836e-01 2.80261949e-01 -1.14862526e-02 2.09307358e+02] [ 1.20134353e-02 -1.63170094e-04 9.99927823e-01 5.01961121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.70028169299997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:342.45, Y:209.36, Z:5.02 [[ 2.81884782e-01 -9.59441803e-01 -3.52096497e-03 3.42454220e+02] [ 9.59373045e-01 2.81906736e-01 -1.14870384e-02 2.09358399e+02] [ 1.20137285e-02 -1.39897586e-04 9.99927823e-01 5.01788255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.76028169299997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:342.47, Y:209.41, Z:5.02 [[ 2.84811589e-01 -9.58577061e-01 -3.51809087e-03 3.42474335e+02] [ 9.58508226e-01 2.84833298e-01 -1.14879185e-02 2.09410783e+02] [ 1.20141246e-02 -1.00226714e-04 9.99927823e-01 5.01576415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.82028169299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:342.49, Y:209.46, Z:5.02 [[ 2.86690812e-01 -9.58016713e-01 -3.51513790e-03 3.42492568e+02] [ 9.57947825e-01 2.86712352e-01 -1.14888220e-02 2.09462880e+02] [ 1.20143170e-02 -7.35789835e-05 9.99927823e-01 5.01574478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.880281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.51, Y:209.51, Z:5.02 [[ 2.90048331e-01 -9.57005554e-01 -3.51206709e-03 3.42506561e+02] [ 9.56936580e-01 2.90069592e-01 -1.14897607e-02 2.09514181e+02] [ 1.20145087e-02 -2.82395541e-05 9.99927823e-01 5.02041211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.940281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:342.52, Y:209.57, Z:5.02 [[ 2.93039348e-01 -9.56093944e-01 -3.50875677e-03 3.42518849e+02] [ 9.56024890e-01 2.93060354e-01 -1.14907715e-02 2.09566680e+02] [ 1.20145345e-02 1.27893906e-05 9.99927823e-01 5.02041904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.000281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:342.53, Y:209.62, Z:5.02 [[ 2.94530334e-01 -9.55635702e-01 -3.50550063e-03 3.42529556e+02] [ 9.55566604e-01 2.94551192e-01 -1.14917648e-02 2.09620285e+02] [ 1.20144901e-02 3.49339855e-05 9.99927823e-01 5.02033574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.060281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:342.54, Y:209.67, Z:5.02 [[ 2.95101773e-01 -9.55459406e-01 -3.50238342e-03 3.42538271e+02] [ 9.55390285e-01 2.95122553e-01 -1.14927147e-02 2.09673228e+02] [ 1.20144547e-02 4.53774083e-05 9.99927823e-01 5.02379570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.120281693 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:342.55, Y:209.73, Z:5.03 [[ 2.93860724e-01 -9.55841844e-01 -3.49918217e-03 3.42549870e+02] [ 9.55772738e-01 2.93881555e-01 -1.14936893e-02 2.09726518e+02] [ 1.20144943e-02 3.31209540e-05 9.99927823e-01 5.02511564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.180281693 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.56, Y:209.78, Z:5.03 [[ 2.92431641e-01 -9.56280039e-01 -3.49608907e-03 3.42560608e+02] [ 9.56210953e-01 2.92452538e-01 -1.14946301e-02 2.09781528e+02] [ 1.20145254e-02 1.83948809e-05 9.99927823e-01 5.02583522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.240281693 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:342.57, Y:209.84, Z:5.02 [[ 2.93298897e-01 -9.56014412e-01 -3.49304409e-03 3.42570552e+02] [ 9.55945296e-01 2.93319695e-01 -1.14955554e-02 2.09835149e+02] [ 1.20144952e-02 3.24746383e-05 9.99927823e-01 5.02432175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.300281693 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:342.58, Y:209.89, Z:5.02 [[ 2.94077025e-01 -9.55775352e-01 -3.48988756e-03 3.42580776e+02] [ 9.55706208e-01 2.94097729e-01 -1.14965136e-02 2.09889149e+02] [ 1.20144523e-02 4.55532988e-05 9.99927823e-01 5.02374787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.36028169299993 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:342.59, Y:209.94, Z:5.03 [[ 2.91425903e-01 -9.56587050e-01 -3.48691455e-03 3.42591491e+02] [ 9.56517953e-01 2.91446762e-01 -1.14974152e-02 2.09943438e+02] [ 1.20145285e-02 1.53482364e-05 9.99927823e-01 5.02583819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.42028169299994 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:342.60, Y:210.00, Z:5.02 [[ 2.87671901e-01 -9.57722684e-01 -3.48395428e-03 3.42604341e+02] [ 9.57653658e-01 2.87692995e-01 -1.14983122e-02 2.09997705e+02] [ 1.20145036e-02 -2.86802517e-05 9.99927823e-01 5.02475341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.48028169299994 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:342.62, Y:210.05, Z:5.03 [[ 2.84677160e-01 -9.58617128e-01 -3.48098214e-03 3.42617971e+02] [ 9.58548157e-01 2.84698434e-01 -1.14992119e-02 2.10051510e+02] [ 1.20143716e-02 -6.31260447e-05 9.99927823e-01 5.02784359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.54028169299994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:342.63, Y:210.11, Z:5.03 [[ 2.81773672e-01 -9.59474597e-01 -3.47799039e-03 3.42633231e+02] [ 9.59405680e-01 2.81795119e-01 -1.15001167e-02 2.10105365e+02] [ 1.20141505e-02 -9.63736415e-05 9.99927823e-01 5.02774079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.60028169299994 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:342.65, Y:210.16, Z:5.03 [[ 2.80454392e-01 -9.59861062e-01 -3.47499958e-03 3.42649446e+02] [ 9.59792164e-01 2.80475898e-01 -1.15010203e-02 2.10157417e+02] [ 1.20140352e-02 -1.09765706e-04 9.99927823e-01 5.02501393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.66028169299994 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:342.67, Y:210.21, Z:5.03 [[ 2.79969578e-01 -9.60002594e-01 -3.47189997e-03 3.42667504e+02] [ 9.59933695e-01 2.79991082e-01 -1.15019560e-02 2.10209665e+02] [ 1.20140086e-02 -1.12596008e-04 9.99927823e-01 5.02924634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.72028169299995 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:342.68, Y:210.26, Z:5.03 [[ 2.81343413e-01 -9.59600881e-01 -3.46885962e-03 3.42682504e+02] [ 9.59531940e-01 2.81364782e-01 -1.15028728e-02 2.10262079e+02] [ 1.20141818e-02 -9.22240971e-05 9.99927823e-01 5.03324213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.78028169299995 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:342.70, Y:210.32, Z:5.03 [[ 2.86681099e-01 -9.58019800e-01 -3.46571542e-03 3.42695354e+02] [ 9.57950729e-01 2.86702046e-01 -1.15038201e-02 2.10315742e+02] [ 1.20145151e-02 -2.20568369e-05 9.99927823e-01 5.02906047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.84028169299995 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:342.71, Y:210.37, Z:5.04 [[ 2.88483640e-01 -9.57478564e-01 -3.46261443e-03 3.42706505e+02] [ 9.57409443e-01 2.88504420e-01 -1.15047534e-02 2.10369517e+02] [ 1.20145343e-02 3.79337864e-06 9.99927823e-01 5.03794395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.90028169299995 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:342.72, Y:210.42, Z:5.04 [[ 2.86663941e-01 -9.58024957e-01 -3.45940563e-03 3.42720156e+02] [ 9.57955863e-01 2.86684813e-01 -1.15057182e-02 2.10423609e+02] [ 1.20145242e-02 -1.56833933e-05 9.99927823e-01 5.04043642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.96028169299996 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:342.73, Y:210.48, Z:5.03 [[ 2.82418726e-01 -9.59285003e-01 -3.45643308e-03 3.42734133e+02] [ 9.59215991e-01 2.82439869e-01 -1.15066111e-02 2.10478515e+02] [ 1.20143539e-02 -6.57834424e-05 9.99927823e-01 5.03490167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.02028169299996 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:342.75, Y:210.53, Z:5.03 [[ 2.80492935e-01 -9.59849876e-01 -3.45373136e-03 3.42750128e+02] [ 9.59780898e-01 2.80514184e-01 -1.15074219e-02 2.10531041e+02] [ 1.20142182e-02 -8.70748264e-05 9.99927823e-01 5.03285626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.08028169299996 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:342.76, Y:210.58, Z:5.03 [[ 2.80558542e-01 -9.59830713e-01 -3.45066932e-03 3.42764039e+02] [ 9.59761722e-01 2.80579750e-01 -1.15083401e-02 2.10584437e+02] [ 1.20142462e-02 -8.30572124e-05 9.99927823e-01 5.03417590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.14028169299996 meters Centerline goodness : 0.999578 with order 1 Centerline is valid? [True, True] Translation: X:342.78, Y:210.64, Z:5.04 [[ 2.81184691e-01 -9.59647479e-01 -3.44764634e-03 3.42777827e+02] [ 9.59578463e-01 2.81205817e-01 -1.15092456e-02 2.10636657e+02] [ 1.20143167e-02 -7.20635039e-05 9.99927823e-01 5.03570126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.20028169299997 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:342.79, Y:210.69, Z:5.04 [[ 2.78258389e-01 -9.60500080e-01 -3.44451179e-03 3.42791496e+02] [ 9.60431117e-01 2.78279687e-01 -1.15101837e-02 2.10690327e+02] [ 1.20140700e-02 -1.05411149e-04 9.99927823e-01 5.03874690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.26028169299997 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:342.80, Y:210.74, Z:5.04 [[ 2.76365405e-01 -9.61046471e-01 -3.44152528e-03 3.42804973e+02] [ 9.60977539e-01 2.76386804e-01 -1.15110765e-02 2.10743025e+02] [ 1.20138717e-02 -1.25965163e-04 9.99927823e-01 5.04267749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.32028169299997 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:342.82, Y:210.80, Z:5.04 [[ 2.73692343e-01 -9.61811143e-01 -3.43899081e-03 3.42818623e+02] [ 9.61742261e-01 2.73713903e-01 -1.15118337e-02 2.10796831e+02] [ 1.20135095e-02 -1.56722065e-04 9.99927823e-01 5.03866337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.380281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:342.83, Y:210.85, Z:5.04 [[ 2.72368362e-01 -9.62186920e-01 -3.43605041e-03 3.42831965e+02] [ 9.62118057e-01 2.72389982e-01 -1.15127113e-02 2.10851264e+02] [ 1.20133259e-02 -1.70187838e-04 9.99927823e-01 5.03529513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.440281693 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:342.84, Y:210.91, Z:5.04 [[ 2.74210899e-01 -9.61663453e-01 -3.43306536e-03 3.42844625e+02] [ 9.61594538e-01 2.74232351e-01 -1.15136013e-02 2.10905347e+02] [ 1.20136672e-02 -1.44061923e-04 9.99927823e-01 5.03862742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.500281693 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:342.85, Y:210.96, Z:5.04 [[ 2.76804349e-01 -9.60920178e-01 -3.42996173e-03 3.42853478e+02] [ 9.60851193e-01 2.76825578e-01 -1.15145258e-02 2.10959420e+02] [ 1.20140414e-02 -1.08411989e-04 9.99927823e-01 5.04098605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.560281693 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:342.87, Y:211.01, Z:5.04 [[ 2.77696965e-01 -9.60662611e-01 -3.42673292e-03 3.42865083e+02] [ 9.60593595e-01 2.77718091e-01 -1.15154867e-02 2.11012980e+02] [ 1.20141632e-02 -9.38819941e-05 9.99927823e-01 5.04399939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.620281693 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:342.88, Y:211.07, Z:5.04 [[ 2.74516180e-01 -9.61576386e-01 -3.42366059e-03 3.42877660e+02] [ 9.61507428e-01 2.74537498e-01 -1.15164000e-02 2.11066754e+02] [ 1.20138215e-02 -1.30436946e-04 9.99927823e-01 5.03776025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.680281693 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:342.89, Y:211.12, Z:5.04 [[ 2.70460837e-01 -9.62724901e-01 -3.42074655e-03 3.42892635e+02] [ 9.62656023e-01 2.70482410e-01 -1.15172655e-02 2.11120296e+02] [ 1.20132101e-02 -1.78033003e-04 9.99927823e-01 5.03570264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.740281693 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:342.91, Y:211.17, Z:5.04 [[ 2.70100488e-01 -9.62826073e-01 -3.41766949e-03 3.42906919e+02] [ 9.62757191e-01 2.70122050e-01 -1.15181785e-02 2.11173049e+02] [ 1.20131905e-02 -1.79320238e-04 9.99927823e-01 5.03619222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.800281693 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:342.92, Y:211.23, Z:5.04 [[ 2.71820550e-01 -9.62341899e-01 -3.41449646e-03 3.42922682e+02] [ 9.62272967e-01 2.71841951e-01 -1.15191191e-02 2.11225939e+02] [ 1.20135343e-02 -1.54544353e-04 9.99927823e-01 5.03804901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.86028169299993 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:342.94, Y:211.28, Z:5.04 [[ 2.74413805e-01 -9.61605650e-01 -3.41150377e-03 3.42935348e+02] [ 9.61536650e-01 2.74434984e-01 -1.15200053e-02 2.11278506e+02] [ 1.20139382e-02 -1.19037413e-04 9.99927823e-01 5.03985088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.92028169299994 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:342.95, Y:211.33, Z:5.04 [[ 2.73871339e-01 -9.61760299e-01 -3.40840276e-03 3.42949013e+02] [ 9.61691300e-01 2.73892520e-01 -1.15209228e-02 2.11332383e+02] [ 1.20139021e-02 -1.22580737e-04 9.99927823e-01 5.04109582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.98028169299994 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:342.96, Y:211.38, Z:5.04 [[ 2.72135210e-01 -9.62252997e-01 -3.40545447e-03 3.42964214e+02] [ 9.62184025e-01 2.72156480e-01 -1.15217942e-02 2.11384928e+02] [ 1.20136975e-02 -1.41188013e-04 9.99927823e-01 5.04482788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.04028169299994 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:342.98, Y:211.44, Z:5.05 [[ 2.73610344e-01 -9.61834601e-01 -3.40292255e-03 3.42978131e+02] [ 9.61765588e-01 2.73631478e-01 -1.15225419e-02 2.11438836e+02] [ 1.20139262e-02 -1.20127153e-04 9.99927823e-01 5.04678049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.10028169299994 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:342.99, Y:211.49, Z:5.05 [[ 2.78650579e-01 -9.60386534e-01 -3.40004988e-03 3.42988146e+02] [ 9.60317400e-01 2.78671317e-01 -1.15233895e-02 2.11492082e+02] [ 1.20144045e-02 -5.41278928e-05 9.99927823e-01 5.04861694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.16028169299994 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:343.00, Y:211.55, Z:5.05 [[ 2.81409123e-01 -9.59581871e-01 -3.39682574e-03 3.43001045e+02] [ 9.59512666e-01 2.81429623e-01 -1.15243398e-02 2.11545647e+02] [ 1.20145150e-02 -1.62429489e-05 9.99927823e-01 5.04811003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.22028169299995 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:343.01, Y:211.60, Z:5.05 [[ 2.83761671e-01 -9.58888834e-01 -3.39373149e-03 3.43010415e+02] [ 9.58819569e-01 2.83781964e-01 -1.15252510e-02 2.11600489e+02] [ 1.20145143e-02 1.64483059e-05 9.99927823e-01 5.04642404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.28028169299995 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:343.02, Y:211.65, Z:5.05 [[ 2.81250114e-01 -9.59628510e-01 -3.39070408e-03 3.43019834e+02] [ 9.59559287e-01 2.81270552e-01 -1.15261416e-02 2.11653972e+02] [ 1.20145193e-02 -1.18529607e-05 9.99927823e-01 5.04772959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.34028169299995 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:343.03, Y:211.71, Z:5.04 [[ 2.78009466e-01 -9.60572361e-01 -3.38757968e-03 3.43032214e+02] [ 9.60503197e-01 2.78030100e-01 -1.15270598e-02 2.11707222e+02] [ 1.20144241e-02 -4.91493877e-05 9.99927823e-01 5.04484849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.40028169299995 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:343.04, Y:211.76, Z:5.04 [[ 2.75925797e-01 -9.61172981e-01 -3.38459933e-03 3.43043768e+02] [ 9.61103850e-01 2.75946545e-01 -1.15279348e-02 2.11760925e+02] [ 1.20143079e-02 -7.20968473e-05 9.99927823e-01 5.04471174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.46028169299996 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:343.05, Y:211.82, Z:5.05 [[ 2.77277469e-01 -9.60783935e-01 -3.38153236e-03 3.43052973e+02] [ 9.60714765e-01 2.77298083e-01 -1.15288344e-02 2.11815787e+02] [ 1.20144113e-02 -5.20020522e-05 9.99927823e-01 5.04561241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.52028169299996 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:343.06, Y:211.87, Z:5.05 [[ 2.76745322e-01 -9.60937361e-01 -3.37849509e-03 3.43061104e+02] [ 9.60868191e-01 2.76765938e-01 -1.15297244e-02 2.11870352e+02] [ 1.20143953e-02 -5.54911843e-05 9.99927823e-01 5.04753930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.58028169299996 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:343.07, Y:211.92, Z:5.05 [[ 2.73496068e-01 -9.61867199e-01 -3.37534705e-03 3.43073009e+02] [ 9.61798087e-01 2.73516880e-01 -1.15306459e-02 2.11924184e+02] [ 1.20141645e-02 -9.28160279e-05 9.99927823e-01 5.05009203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.64028169299996 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:343.08, Y:211.98, Z:5.05 [[ 2.68792803e-01 -9.63192118e-01 -3.37245822e-03 3.43084833e+02] [ 9.63123098e-01 2.68813918e-01 -1.15314907e-02 2.11978328e+02] [ 1.20136047e-02 -1.48510693e-04 9.99927823e-01 5.05252906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.70028169299997 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:343.10, Y:212.03, Z:5.06 [[ 2.66964399e-01 -9.63700502e-01 -3.36942400e-03 3.43097191e+02] [ 9.63631511e-01 2.66985608e-01 -1.15323773e-02 2.12031378e+02] [ 1.20133455e-02 -1.68148974e-04 9.99927823e-01 5.05509081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.76028169299997 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:343.11, Y:212.09, Z:5.06 [[ 2.65830014e-01 -9.64014041e-01 -3.36630415e-03 3.43111502e+02] [ 9.63945064e-01 2.65851267e-01 -1.15332879e-02 2.12085178e+02] [ 1.20131877e-02 -1.79038197e-04 9.99927823e-01 5.05540188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.82028169299997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:343.12, Y:212.14, Z:5.06 [[ 2.65554980e-01 -9.64089851e-01 -3.36337387e-03 3.43124804e+02] [ 9.64020869e-01 2.65576218e-01 -1.15341423e-02 2.12139286e+02] [ 1.20131817e-02 -1.79413666e-04 9.99927823e-01 5.05520569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.880281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:343.14, Y:212.19, Z:5.05 [[ 2.64978968e-01 -9.64248337e-01 -3.36035454e-03 3.43137053e+02] [ 9.64179357e-01 2.65000211e-01 -1.15350219e-02 2.12192344e+02] [ 1.20131204e-02 -1.83446275e-04 9.99927823e-01 5.05194199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.940281693 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:343.15, Y:212.25, Z:5.05 [[ 2.63015156e-01 -9.64785861e-01 -3.35723274e-03 3.43148876e+02] [ 9.64716912e-01 2.63036502e-01 -1.15359304e-02 2.12246629e+02] [ 1.20127773e-02 -2.04654663e-04 9.99927823e-01 5.05225503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.000281693 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:343.16, Y:212.30, Z:5.05 [[ 2.61611504e-01 -9.65167431e-01 -3.35423533e-03 3.43162631e+02] [ 9.65098503e-01 2.61632915e-01 -1.15368019e-02 2.12298911e+02] [ 1.20125238e-02 -2.19007390e-04 9.99927823e-01 5.05157741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.060281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:343.18, Y:212.35, Z:5.05 [[ 2.59978601e-01 -9.65608563e-01 -3.35113933e-03 3.43175181e+02] [ 9.65539659e-01 2.60000091e-01 -1.15377012e-02 2.12353512e+02] [ 1.20121996e-02 -2.36102515e-04 9.99927823e-01 5.05205431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.120281693 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:343.19, Y:212.41, Z:5.06 [[ 2.61202275e-01 -9.65278282e-01 -3.34820793e-03 3.43188400e+02] [ 9.65209340e-01 2.61223643e-01 -1.15385518e-02 2.12407533e+02] [ 1.20125445e-02 -2.17825589e-04 9.99927823e-01 5.05544015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.180281693 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:343.20, Y:212.46, Z:5.06 [[ 2.61257961e-01 -9.65263221e-01 -3.34527282e-03 3.43202555e+02] [ 9.65194268e-01 2.61279290e-01 -1.15394027e-02 2.12459748e+02] [ 1.20126115e-02 -2.14077331e-04 9.99927823e-01 5.05618813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.240281693 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:343.22, Y:212.51, Z:5.05 [[ 2.60239582e-01 -9.65538288e-01 -3.34276819e-03 3.43217569e+02] [ 9.65469348e-01 2.60260953e-01 -1.15401282e-02 2.12513040e+02] [ 1.20124276e-02 -2.24142096e-04 9.99927823e-01 5.05455082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.300281693 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:343.23, Y:212.56, Z:5.06 [[ 2.58412741e-01 -9.66028831e-01 -3.33976521e-03 3.43234548e+02] [ 9.65959920e-01 2.58434207e-01 -1.15409972e-02 2.12564468e+02] [ 1.20120456e-02 -2.43738625e-04 9.99927823e-01 5.05746807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.36028169299993 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:343.25, Y:212.62, Z:5.06 [[ 2.57024584e-01 -9.66399105e-01 -3.33663961e-03 3.43250715e+02] [ 9.66330213e-01 2.57046112e-01 -1.15419008e-02 2.12616860e+02] [ 1.20117528e-02 -2.57743422e-04 9.99927823e-01 5.05886749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.42028169299994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:343.27, Y:212.67, Z:5.06 [[ 2.55156265e-01 -9.66894081e-01 -3.33412756e-03 3.43271434e+02] [ 9.66825222e-01 2.55177896e-01 -1.15426264e-02 2.12668568e+02] [ 1.20112928e-02 -2.78345184e-04 9.99927823e-01 5.05534061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.48028169299994 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:343.29, Y:212.72, Z:5.06 [[ 2.53954889e-01 -9.67210327e-01 -3.33115996e-03 3.43291023e+02] [ 9.67141484e-01 2.53976570e-01 -1.15434827e-02 2.12719609e+02] [ 1.20110123e-02 -2.90179103e-04 9.99927823e-01 5.05821426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.54028169299994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:343.32, Y:212.77, Z:5.06 [[ 2.53451136e-01 -9.67342465e-01 -3.32808470e-03 3.43315018e+02] [ 9.67273622e-01 2.53472816e-01 -1.15443693e-02 2.12770543e+02] [ 1.20109377e-02 -2.93235024e-04 9.99927823e-01 5.06063036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.60028169299994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:343.34, Y:212.82, Z:5.06 [[ 2.54104667e-01 -9.67171009e-01 -3.32521899e-03 3.43335258e+02] [ 9.67102140e-01 2.54126266e-01 -1.15451947e-02 2.12821994e+02] [ 1.20112031e-02 -2.82138552e-04 9.99927823e-01 5.06080381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.66028169299994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:343.36, Y:212.87, Z:5.06 [[ 2.56873567e-01 -9.66439306e-01 -3.32236239e-03 3.43357537e+02] [ 9.66370365e-01 2.56894935e-01 -1.15460167e-02 2.12873165e+02] [ 1.20120224e-02 -2.44766071e-04 9.99927823e-01 5.06072964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.72028169299995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:343.38, Y:212.93, Z:5.06 [[ 2.58719178e-01 -9.65946876e-01 -3.31951643e-03 3.43376874e+02] [ 9.65877884e-01 2.58740380e-01 -1.15468348e-02 2.12925477e+02] [ 1.20125220e-02 -2.18859893e-04 9.99927823e-01 5.06172866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.78028169299995 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:343.40, Y:212.98, Z:5.06 [[ 2.62362774e-01 -9.64963614e-01 -3.31652966e-03 3.43397288e+02] [ 9.64894531e-01 2.62383680e-01 -1.15476926e-02 2.12977128e+02] [ 1.20133065e-02 -1.70416663e-04 9.99927823e-01 5.06028185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.84028169299995 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:343.41, Y:213.03, Z:5.06 [[ 2.64643288e-01 -9.64340682e-01 -3.31350008e-03 3.43414564e+02] [ 9.64271539e-01 2.64663994e-01 -1.15485619e-02 2.13029314e+02] [ 1.20137122e-02 -1.38864442e-04 9.99927823e-01 5.06305895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.90028169299995 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:343.43, Y:213.08, Z:5.06 [[ 2.63044378e-01 -9.64778055e-01 -3.31047243e-03 3.43434607e+02] [ 9.64708936e-01 2.63065163e-01 -1.15494297e-02 2.13080943e+02] [ 1.20135063e-02 -1.55629785e-04 9.99927823e-01 5.06128806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.96028169299996 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:343.46, Y:213.13, Z:5.06 [[ 2.57895323e-01 -9.66167203e-01 -3.30745006e-03 3.43456444e+02] [ 9.66098184e-01 2.57916440e-01 -1.15502952e-02 2.13131219e+02] [ 1.20125621e-02 -2.16554398e-04 9.99927823e-01 5.06040139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.02028169299996 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:343.48, Y:213.18, Z:5.06 [[ 2.51681587e-01 -9.67804453e-01 -3.30432880e-03 3.43481858e+02] [ 9.67735560e-01 2.51703110e-01 -1.15511880e-02 2.13179971e+02] [ 1.20110011e-02 -2.90495143e-04 9.99927823e-01 5.06292386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.08028169299996 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:343.51, Y:213.23, Z:5.07 [[ 2.54698601e-01 -9.67014853e-01 -3.30104508e-03 3.43505390e+02] [ 9.66945881e-01 2.54719870e-01 -1.15521264e-02 2.13230444e+02] [ 1.20119196e-02 -2.49621519e-04 9.99927823e-01 5.06660808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.14028169299996 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:343.52, Y:213.28, Z:5.07 [[ 2.58732904e-01 -9.65943273e-01 -3.29812770e-03 3.43524895e+02] [ 9.65874202e-01 2.58753849e-01 -1.15529592e-02 2.13281093e+02] [ 1.20129065e-02 -1.96445775e-04 9.99927823e-01 5.06970368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.20028169299997 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:343.55, Y:213.33, Z:5.07 [[ 2.65355711e-01 -9.64144950e-01 -3.29560982e-03 3.43548460e+02] [ 9.64075729e-01 2.65376152e-01 -1.15536774e-02 2.13332319e+02] [ 1.20139960e-02 -1.11383147e-04 9.99927823e-01 5.06854214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.26028169299997 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:343.57, Y:213.38, Z:5.07 [[ 2.67492561e-01 -9.63554300e-01 -3.29266102e-03 3.43566619e+02] [ 9.63485022e-01 2.67512813e-01 -1.15545177e-02 2.13384769e+02] [ 1.20142343e-02 -8.16820331e-05 9.99927823e-01 5.06807575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.32028169299997 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:343.59, Y:213.43, Z:5.07 [[ 2.66874837e-01 -9.63725583e-01 -3.28973478e-03 3.43587376e+02] [ 9.63656308e-01 2.66895099e-01 -1.15553508e-02 2.13434644e+02] [ 1.20142013e-02 -8.63412954e-05 9.99927823e-01 5.06626495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.380281693 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:343.61, Y:213.48, Z:5.07 [[ 2.65839995e-01 -9.64011565e-01 -3.28643620e-03 3.43608850e+02] [ 9.63942300e-01 2.65860291e-01 -1.15562889e-02 2.13484965e+02] [ 1.20141290e-02 -9.58110926e-05 9.99927823e-01 5.06531975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.440281693 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:343.63, Y:213.54, Z:5.06 [[ 2.66939064e-01 -9.63707817e-01 -3.28329730e-03 3.43630531e+02] [ 9.63638518e-01 2.66959243e-01 -1.15571806e-02 2.13536128e+02] [ 1.20142519e-02 -7.88487731e-05 9.99927823e-01 5.06430650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.500281693 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:343.65, Y:213.59, Z:5.06 [[ 2.69154673e-01 -9.63091378e-01 -3.28015395e-03 3.43649579e+02] [ 9.63022023e-01 2.69174655e-01 -1.15580727e-02 2.13587971e+02] [ 1.20144145e-02 -4.79512177e-05 9.99927823e-01 5.06494566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.560281693 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:343.67, Y:213.64, Z:5.06 [[ 2.70651934e-01 -9.62671695e-01 -3.27703077e-03 3.43669136e+02] [ 9.62602297e-01 2.70671771e-01 -1.15589581e-02 2.13637736e+02] [ 1.20144815e-02 -2.60229778e-05 9.99927823e-01 5.06361058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.620281693 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:343.69, Y:213.69, Z:5.06 [[ 2.71848469e-01 -9.62334501e-01 -3.27380647e-03 3.43692038e+02] [ 9.62265068e-01 2.71868181e-01 -1.15598713e-02 2.13687591e+02] [ 1.20145068e-02 -7.73629285e-06 9.99927823e-01 5.06213663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.680281693 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:343.72, Y:213.74, Z:5.06 [[ 2.73659014e-01 -9.61821213e-01 -3.27077156e-03 3.43715714e+02] [ 9.61751733e-01 2.73678558e-01 -1.15607299e-02 2.13737315e+02] [ 1.20144953e-02 1.80277318e-05 9.99927823e-01 5.06282471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.740281693 meters Centerline goodness : 0.999174 with order 1 Centerline is valid? [True, True] Translation: X:343.73, Y:213.79, Z:5.06 [[ 2.76736601e-01 -9.60940256e-01 -3.26773952e-03 3.43734327e+02] [ 9.60870704e-01 2.76755886e-01 -1.15615869e-02 2.13789396e+02] [ 1.20143604e-02 5.96390761e-05 9.99927823e-01 5.05895898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.800281693 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:343.76, Y:213.84, Z:5.06 [[ 2.84017743e-01 -9.58813466e-01 -3.26471062e-03 3.43755446e+02] [ 9.58743760e-01 2.84036465e-01 -1.15624421e-02 2.13840659e+02] [ 1.20135221e-02 1.53917783e-04 9.99927823e-01 5.05840347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.86028169299993 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:343.77, Y:213.89, Z:5.06 [[ 2.90680997e-01 -9.56814465e-01 -3.26165989e-03 3.43770684e+02] [ 9.56744620e-01 2.90699196e-01 -1.15633026e-02 2.13892988e+02] [ 1.20120971e-02 2.40656777e-04 9.99927823e-01 5.06164470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.92028169299994 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:343.78, Y:213.95, Z:5.06 [[ 2.93936940e-01 -9.55819258e-01 -3.25903841e-03 3.43784212e+02] [ 9.55749343e-01 2.93954870e-01 -1.15640414e-02 2.13946388e+02] [ 1.20111437e-02 2.84275135e-04 9.99927823e-01 5.06227239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.98028169299994 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:343.80, Y:214.00, Z:5.06 [[ 2.98342360e-01 -9.54453369e-01 -3.25608148e-03 3.43796052e+02] [ 9.54383364e-01 2.98359930e-01 -1.15648739e-02 2.14000294e+02] [ 1.20096172e-02 3.42741787e-04 9.99927823e-01 5.06065122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.04028169299994 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:343.81, Y:214.05, Z:5.06 [[ 2.94794834e-01 -9.55555035e-01 -3.25299424e-03 3.43808795e+02] [ 9.55485085e-01 2.94812627e-01 -1.15657423e-02 2.14054109e+02] [ 1.20107270e-02 3.01333591e-04 9.99927823e-01 5.06191144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.10028169299994 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:343.82, Y:214.11, Z:5.07 [[ 2.90940282e-01 -9.56735695e-01 -3.25002956e-03 3.43822885e+02] [ 9.56665809e-01 2.90958321e-01 -1.15665753e-02 2.14107227e+02] [ 1.20117786e-02 2.55990516e-04 9.99927823e-01 5.06517758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.16028169299994 meters Centerline goodness : 0.999234 with order 1 Centerline is valid? [True, True] Translation: X:343.84, Y:214.16, Z:5.07 [[ 2.83888827e-01 -9.58851704e-01 -3.24708993e-03 3.43837451e+02] [ 9.58781943e-01 2.83907345e-01 -1.15674005e-02 2.14160850e+02] [ 1.20132943e-02 1.70604568e-04 9.99927823e-01 5.07094411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.22028169299995 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:343.85, Y:214.21, Z:5.07 [[ 2.81915383e-01 -9.59433787e-01 -3.24419060e-03 3.43853868e+02] [ 9.59364055e-01 2.81934009e-01 -1.15682136e-02 2.14212387e+02] [ 1.20135826e-02 1.48897508e-04 9.99927823e-01 5.07478121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.28028169299995 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:343.87, Y:214.27, Z:5.07 [[ 2.82045362e-01 -9.59395596e-01 -3.24106730e-03 3.43869342e+02] [ 9.59325851e-01 2.82063942e-01 -1.15690886e-02 2.14266181e+02] [ 1.20135208e-02 1.53768124e-04 9.99927823e-01 5.06753733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.34028169299995 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:343.88, Y:214.32, Z:5.06 [[ 2.82456769e-01 -9.59274564e-01 -3.23811081e-03 3.43883875e+02] [ 9.59204802e-01 2.82475283e-01 -1.15699160e-02 2.14318909e+02] [ 1.20134124e-02 1.61989651e-04 9.99927823e-01 5.06445055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.40028169299995 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:343.90, Y:214.37, Z:5.07 [[ 2.85191725e-01 -9.58465031e-01 -3.23486371e-03 3.43898964e+02] [ 9.58395206e-01 2.85210000e-01 -1.15708238e-02 2.14370337e+02] [ 1.20128455e-02 1.99625318e-04 9.99927823e-01 5.06645746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.46028169299996 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:343.91, Y:214.42, Z:5.07 [[ 2.86061208e-01 -9.58205898e-01 -3.23151694e-03 3.43914389e+02] [ 9.58136046e-01 2.86079380e-01 -1.15717584e-02 2.14422001e+02] [ 1.20125975e-02 2.13998336e-04 9.99927823e-01 5.06734669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.52028169299996 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:343.93, Y:214.48, Z:5.07 [[ 2.84822362e-01 -9.58574880e-01 -3.22823503e-03 3.43930994e+02] [ 9.58505041e-01 2.84840585e-01 -1.15726739e-02 2.14475163e+02] [ 1.20128069e-02 2.01876776e-04 9.99927823e-01 5.06599334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.58028169299996 meters Centerline goodness : 0.999241 with order 1 Centerline is valid? [True, True] Translation: X:343.95, Y:214.53, Z:5.06 [[ 2.83561778e-01 -9.58948547e-01 -3.22519830e-03 3.43946772e+02] [ 9.58878723e-01 2.83580056e-01 -1.15735202e-02 2.14527638e+02] [ 1.20130123e-02 1.89233930e-04 9.99927823e-01 5.06418089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.64028169299996 meters Centerline goodness : 0.999237 with order 1 Centerline is valid? [True, True] Translation: X:343.97, Y:214.58, Z:5.06 [[ 2.80124538e-01 -9.59958260e-01 -3.22206170e-03 3.43967612e+02] [ 9.59888492e-01 2.80143028e-01 -1.15743933e-02 2.14578207e+02] [ 1.20135726e-02 1.49451638e-04 9.99927823e-01 5.06373097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.70028169299997 meters Centerline goodness : 0.999379 with order 1 Centerline is valid? [True, True] Translation: X:343.99, Y:214.63, Z:5.06 [[ 2.74514770e-01 -9.61577496e-01 -3.21883990e-03 3.43992071e+02] [ 9.61507826e-01 2.74533628e-01 -1.15752892e-02 2.14629064e+02] [ 1.20142174e-02 8.26481099e-05 9.99927823e-01 5.06285929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.76028169299997 meters Centerline goodness : 0.999344 with order 1 Centerline is valid? [True, True] Translation: X:344.01, Y:214.68, Z:5.06 [[ 2.74180595e-01 -9.61672845e-01 -3.21580032e-03 3.44012409e+02] [ 9.61603172e-01 2.74199441e-01 -1.15761336e-02 2.14679403e+02] [ 1.20142240e-02 8.16274178e-05 9.99927823e-01 5.06372831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.82028169299997 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:344.03, Y:214.73, Z:5.07 [[ 2.76826579e-01 -9.60914526e-01 -3.21237776e-03 3.44032648e+02] [ 9.60844790e-01 2.76845192e-01 -1.15770833e-02 2.14730007e+02] [ 1.20139188e-02 1.18247939e-04 9.99927823e-01 5.06547755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.880281693 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:344.05, Y:214.78, Z:5.06 [[ 2.81804651e-01 -9.59466435e-01 -3.20920704e-03 3.44052620e+02] [ 9.59396594e-01 2.81822863e-01 -1.15779622e-02 2.14781664e+02] [ 1.20130940e-02 1.83821282e-04 9.99927823e-01 5.06474469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.940281693 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:344.07, Y:214.83, Z:5.07 [[ 2.81919110e-01 -9.59432820e-01 -3.20606015e-03 3.44069671e+02] [ 9.59362967e-01 2.81937277e-01 -1.15788335e-02 2.14833014e+02] [ 1.20130208e-02 1.88519060e-04 9.99927823e-01 5.06686153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.000281693 meters Centerline goodness : 0.999427 with order 1 Centerline is valid? [True, True] Translation: X:344.09, Y:214.88, Z:5.07 [[ 2.79789478e-01 -9.60056035e-01 -3.20281712e-03 3.44092310e+02] [ 9.59986212e-01 2.79807760e-01 -1.15797305e-02 2.14883808e+02] [ 1.20133632e-02 1.65226477e-04 9.99927823e-01 5.06759140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.060281693 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:344.11, Y:214.93, Z:5.07 [[ 2.78476967e-01 -9.60437578e-01 -3.19963116e-03 3.44112621e+02] [ 9.60367770e-01 2.78495306e-01 -1.15806107e-02 2.14934118e+02] [ 1.20135360e-02 1.52110717e-04 9.99927823e-01 5.06787545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.120281693 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:344.13, Y:214.99, Z:5.07 [[ 2.81753232e-01 -9.59481579e-01 -3.19633466e-03 3.44129869e+02] [ 9.59411698e-01 2.81771293e-01 -1.15815205e-02 2.14986177e+02] [ 1.20128910e-02 1.96529970e-04 9.99927823e-01 5.06613350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.180281693 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:344.15, Y:215.04, Z:5.07 [[ 2.89305386e-01 -9.57231527e-01 -3.19319374e-03 3.44146326e+02] [ 9.57161497e-01 2.89322858e-01 -1.15823865e-02 2.15036906e+02] [ 1.20108894e-02 2.94444685e-04 9.99927823e-01 5.06536089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.240281693 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:344.16, Y:215.09, Z:5.07 [[ 2.92682848e-01 -9.56204254e-01 -3.18996629e-03 3.44163218e+02] [ 9.56134153e-01 2.92700034e-01 -1.15832753e-02 2.15089836e+02] [ 1.20096803e-02 3.40190292e-04 9.99927823e-01 5.06507462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.300281693 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:344.18, Y:215.14, Z:5.06 [[ 2.99337062e-01 -9.54142110e-01 -3.18697314e-03 3.44178196e+02] [ 9.54071883e-01 2.99353723e-01 -1.15840988e-02 2.15142733e+02] [ 1.20069087e-02 4.26948623e-04 9.99927823e-01 5.05969125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.36028169299993 meters Centerline goodness : 0.999427 with order 1 Centerline is valid? [True, True] Translation: X:344.19, Y:215.20, Z:5.06 [[ 3.04773085e-01 -9.52419671e-01 -3.18387765e-03 3.44190646e+02] [ 9.52349341e-01 3.04789308e-01 -1.15849495e-02 2.15196756e+02] [ 1.20041456e-02 4.98617020e-04 9.99927823e-01 5.06117018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.42028169299994 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:344.20, Y:215.25, Z:5.07 [[ 3.10917340e-01 -9.50431634e-01 -3.18088197e-03 3.44198974e+02] [ 9.50361192e-01 3.10933071e-01 -1.15857720e-02 2.15251092e+02] [ 1.20005256e-02 5.79230613e-04 9.99927823e-01 5.06507435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.48028169299994 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:344.21, Y:215.30, Z:5.07 [[ 3.09916652e-01 -9.50758418e-01 -3.17778174e-03 3.44210092e+02] [ 9.50687985e-01 3.09932420e-01 -1.15866222e-02 2.15304857e+02] [ 1.20009762e-02 5.69808255e-04 9.99927823e-01 5.06962325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.54028169299994 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:344.22, Y:215.36, Z:5.07 [[ 3.05862464e-01 -9.52070414e-01 -3.17471301e-03 3.44220601e+02] [ 9.52000040e-01 3.05878495e-01 -1.15874630e-02 2.15358349e+02] [ 1.20031571e-02 5.21843069e-04 9.99927823e-01 5.06952853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.60028169299994 meters Centerline goodness : 0.999450 with order 1 Centerline is valid? [True, True] Translation: X:344.23, Y:215.41, Z:5.07 [[ 2.99458799e-01 -9.54103961e-01 -3.17163342e-03 3.44228312e+02] [ 9.54033688e-01 2.99475265e-01 -1.15883059e-02 2.15414235e+02] [ 1.20062743e-02 4.44375024e-04 9.99927823e-01 5.06745343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.66028169299994 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:344.23, Y:215.47, Z:5.07 [[ 2.92317384e-01 -9.56316112e-01 -3.16868658e-03 3.44233284e+02] [ 9.56245955e-01 2.92334339e-01 -1.15891116e-02 2.15470372e+02] [ 1.20091700e-02 3.57655058e-04 9.99927823e-01 5.07078948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.72028169299995 meters Centerline goodness : 0.999493 with order 1 Centerline is valid? [True, True] Translation: X:344.24, Y:215.52, Z:5.06 [[ 2.86923054e-01 -9.57948401e-01 -3.16573805e-03 3.44241950e+02] [ 9.57878332e-01 2.86940368e-01 -1.15899170e-02 2.15523544e+02] [ 1.20109205e-02 2.93022481e-04 9.99927823e-01 5.06309999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.78028169299995 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:344.25, Y:215.58, Z:5.06 [[ 2.73384021e-01 -9.61899775e-01 -3.16241354e-03 3.44252229e+02] [ 9.61829946e-01 2.73402281e-01 -1.15908240e-02 2.15578026e+02] [ 1.20138221e-02 1.27042022e-04 9.99927823e-01 5.06358914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.84028169299995 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:344.26, Y:215.63, Z:5.07 [[ 2.67167623e-01 -9.63644893e-01 -3.15940460e-03 3.44264453e+02] [ 9.63575174e-01 2.67186298e-01 -1.15916441e-02 2.15629832e+02] [ 1.20143783e-02 5.25881672e-05 9.99927823e-01 5.06641785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.90028169299995 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:344.28, Y:215.68, Z:5.07 [[ 2.54513670e-01 -9.67064027e-01 -3.15598980e-03 3.44277710e+02] [ 9.66994547e-01 2.54533216e-01 -1.15925738e-02 2.15683060e+02] [ 1.20140653e-02 -1.01356438e-04 9.99927823e-01 5.07031534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.96028169299996 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:344.30, Y:215.74, Z:5.07 [[ 2.41546010e-01 -9.70384246e-01 -3.15267649e-03 3.44295424e+02] [ 9.70315023e-01 2.41566445e-01 -1.15934748e-02 2.15735273e+02] [ 1.20117061e-02 -2.58731783e-04 9.99927823e-01 5.06636186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.02028169299996 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:344.32, Y:215.79, Z:5.06 [[ 2.35081245e-01 -9.71970621e-01 -3.14946511e-03 3.44317531e+02] [ 9.71901524e-01 2.35102102e-01 -1.15943471e-02 2.15785172e+02] [ 1.20098106e-02 -3.35356380e-04 9.99927823e-01 5.06479986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.08028169299996 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:344.34, Y:215.84, Z:5.07 [[ 2.32945376e-01 -9.72484732e-01 -3.14602643e-03 3.44339130e+02] [ 9.72415668e-01 2.32966344e-01 -1.15952801e-02 2.15835566e+02] [ 1.20091511e-02 -3.58178511e-04 9.99927823e-01 5.06777368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.14028169299996 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:344.37, Y:215.89, Z:5.07 [[ 2.36317197e-01 -9.71670883e-01 -3.14278734e-03 3.44365372e+02] [ 9.71601736e-01 2.36337887e-01 -1.15961580e-02 2.15885454e+02] [ 1.20104088e-02 -3.13166096e-04 9.99927823e-01 5.06771273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.20028169299997 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:344.39, Y:215.94, Z:5.07 [[ 2.41033142e-01 -9.70511807e-01 -3.13955311e-03 3.44387095e+02] [ 9.70442548e-01 2.41053457e-01 -1.15970335e-02 2.15935549e+02] [ 1.20118581e-02 -2.51486494e-04 9.99927823e-01 5.06802297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.26028169299997 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:344.41, Y:215.99, Z:5.07 [[ 2.48228418e-01 -9.68696452e-01 -3.13619580e-03 3.44413215e+02] [ 9.68627033e-01 2.48248178e-01 -1.15979414e-02 2.15985357e+02] [ 1.20134396e-02 -1.58865390e-04 9.99927823e-01 5.07048334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.32028169299997 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:344.44, Y:216.03, Z:5.07 [[ 2.52854801e-01 -9.67499165e-01 -3.13296745e-03 3.44435696e+02] [ 9.67429641e-01 2.52874191e-01 -1.15988134e-02 2.16034647e+02] [ 1.20140889e-02 -9.81099205e-05 9.99927823e-01 5.07063775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.380281693 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:344.46, Y:216.09, Z:5.07 [[ 2.59125018e-01 -9.65838718e-01 -3.12992523e-03 3.44455816e+02] [ 9.65769060e-01 2.59143920e-01 -1.15996343e-02 2.16085616e+02] [ 1.20144770e-02 -1.70295021e-05 9.99927823e-01 5.07057920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.440281693 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:344.48, Y:216.14, Z:5.07 [[ 2.70386369e-01 -9.62746818e-01 -3.12674585e-03 3.44478500e+02] [ 9.62676934e-01 2.70404417e-01 -1.16004912e-02 2.16136351e+02] [ 1.20138219e-02 1.26568591e-04 9.99927823e-01 5.07339129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.500281693 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:344.50, Y:216.19, Z:5.07 [[ 2.80174310e-01 -9.59944061e-01 -3.12347264e-03 3.44497879e+02] [ 9.59873987e-01 2.80191607e-01 -1.16013725e-02 2.16187416e+02] [ 1.20118394e-02 2.52266402e-04 9.99927823e-01 5.06863195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.560281693 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:344.51, Y:216.24, Z:5.07 [[ 2.84418856e-01 -9.58695040e-01 -3.12021868e-03 3.44511944e+02] [ 9.58624881e-01 2.84435803e-01 -1.16022476e-02 2.16239445e+02] [ 1.20105191e-02 3.08778719e-04 9.99927823e-01 5.07171308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.620281693 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:344.53, Y:216.29, Z:5.07 [[ 2.85881576e-01 -9.58259885e-01 -3.11719252e-03 3.44527276e+02] [ 9.58189692e-01 2.85898380e-01 -1.16030606e-02 2.16291811e+02] [ 1.20099478e-02 3.30239507e-04 9.99927823e-01 5.07233340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.680281693 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:344.54, Y:216.34, Z:5.07 [[ 2.85492766e-01 -9.58375805e-01 -3.11402450e-03 3.44541706e+02] [ 9.58305609e-01 2.85509560e-01 -1.16039107e-02 2.16344245e+02] [ 1.20099911e-02 3.28645432e-04 9.99927823e-01 5.07109189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.740281693 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:344.55, Y:216.40, Z:5.07 [[ 2.84566905e-01 -9.58651135e-01 -3.11087934e-03 3.44553866e+02] [ 9.58580947e-01 2.84583728e-01 -1.16047539e-02 2.16397534e+02] [ 1.20102161e-02 3.20299220e-04 9.99927823e-01 5.07183121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.80028169299993 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:344.57, Y:216.45, Z:5.07 [[ 2.83512866e-01 -9.58963397e-01 -3.10764336e-03 3.44567182e+02] [ 9.58893218e-01 2.83529727e-01 -1.16056204e-02 2.16451868e+02] [ 1.20104744e-02 3.10444540e-04 9.99927823e-01 5.07083898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.86028169299993 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:344.58, Y:216.51, Z:5.07 [[ 2.81081091e-01 -9.59679000e-01 -3.10458649e-03 3.44579292e+02] [ 9.59608854e-01 2.81098093e-01 -1.16064380e-02 2.16505307e+02] [ 1.20111482e-02 2.83161572e-04 9.99927823e-01 5.07349740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.92028169299994 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:344.59, Y:216.56, Z:5.08 [[ 2.81034081e-01 -9.59692777e-01 -3.10142327e-03 3.44590135e+02] [ 9.59622623e-01 2.81051049e-01 -1.16072832e-02 2.16558784e+02] [ 1.20110841e-02 2.85846250e-04 9.99927823e-01 5.07910944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.98028169299994 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:344.60, Y:216.61, Z:5.08 [[ 2.83070612e-01 -9.59094067e-01 -3.09815921e-03 3.44598611e+02] [ 9.59023868e-01 2.83087391e-01 -1.16081544e-02 2.16612297e+02] [ 1.20103618e-02 3.14718736e-04 9.99927823e-01 5.07658992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.04028169299994 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:344.61, Y:216.67, Z:5.07 [[ 2.86734452e-01 -9.58005102e-01 -3.09479041e-03 3.44606363e+02] [ 9.57934830e-01 2.86750922e-01 -1.16090525e-02 2.16667505e+02] [ 1.20089655e-02 3.64107773e-04 9.99927823e-01 5.06816234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.10028169299994 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:344.61, Y:216.72, Z:5.07 [[ 2.87786347e-01 -9.57689647e-01 -3.09177402e-03 3.44614900e+02] [ 9.57619348e-01 2.87802703e-01 -1.16098557e-02 2.16721485e+02] [ 1.20084596e-02 3.80415356e-04 9.99927823e-01 5.06559106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.16028169299994 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:344.63, Y:216.78, Z:5.07 [[ 2.86202544e-01 -9.58164163e-01 -3.08864946e-03 3.44625108e+02] [ 9.58093883e-01 2.86218979e-01 -1.16106869e-02 2.16775697e+02] [ 1.20089742e-02 3.63791981e-04 9.99927824e-01 5.06718194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.22028169299995 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:344.64, Y:216.83, Z:5.07 [[ 2.83838507e-01 -9.58867135e-01 -3.08548912e-03 3.44635392e+02] [ 9.58796886e-01 2.83855077e-01 -1.16115267e-02 2.16829231e+02] [ 1.20097431e-02 3.37441056e-04 9.99927824e-01 5.06850328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.28028169299995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:344.65, Y:216.88, Z:5.07 [[ 2.82287265e-01 -9.59324971e-01 -3.08235690e-03 3.44646185e+02] [ 9.59254740e-01 2.82303910e-01 -1.16123581e-02 2.16883805e+02] [ 1.20101865e-02 3.21255354e-04 9.99927824e-01 5.06863889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.34028169299995 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:344.65, Y:216.94, Z:5.06 [[ 2.82125549e-01 -9.59372552e-01 -3.07927287e-03 3.44654784e+02] [ 9.59302315e-01 2.82142169e-01 -1.16131759e-02 2.16937920e+02] [ 1.20101549e-02 3.22420032e-04 9.99927824e-01 5.06462655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.40028169299995 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:344.66, Y:216.99, Z:5.06 [[ 2.82214294e-01 -9.59346460e-01 -3.07607012e-03 3.44664473e+02] [ 9.59276212e-01 2.82230868e-01 -1.16140241e-02 2.16991350e+02] [ 1.20100349e-02 3.26842730e-04 9.99927824e-01 5.06141070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.46028169299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:344.67, Y:217.05, Z:5.07 [[ 2.78753040e-01 -9.60357902e-01 -3.07279827e-03 3.44673529e+02] [ 9.60287705e-01 2.78769829e-01 -1.16148897e-02 2.17045579e+02] [ 1.20110546e-02 2.86915426e-04 9.99927824e-01 5.06541821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.52028169299996 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:344.68, Y:217.10, Z:5.07 [[ 2.74211510e-01 -9.61664507e-01 -3.06964470e-03 3.44683218e+02] [ 9.61594381e-01 2.74228592e-01 -1.16157231e-02 2.17098837e+02] [ 1.20122130e-02 2.33411881e-04 9.99927824e-01 5.06774727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.58028169299996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:344.70, Y:217.15, Z:5.07 [[ 2.64287864e-01 -9.64438968e-01 -3.06639071e-03 3.44699084e+02] [ 9.64369011e-01 2.64305628e-01 -1.16165821e-02 2.17151037e+02] [ 1.20139487e-02 1.12989487e-04 9.99927824e-01 5.06891847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.64028169299996 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:344.72, Y:217.20, Z:5.07 [[ 2.53642206e-01 -9.67293259e-01 -3.06313569e-03 3.44718928e+02] [ 9.67223492e-01 2.53660701e-01 -1.16174403e-02 2.17202187e+02] [ 1.20144688e-02 -1.60636102e-05 9.99927824e-01 5.06593798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.70028169299997 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:344.74, Y:217.25, Z:5.07 [[ 2.50058667e-01 -9.68225852e-01 -3.05985084e-03 3.44736196e+02] [ 9.68156144e-01 2.50077381e-01 -1.16183054e-02 2.17254242e+02] [ 1.20143431e-02 -5.71554198e-05 9.99927824e-01 5.06524991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.76028169299997 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:344.76, Y:217.30, Z:5.07 [[ 2.41905220e-01 -9.70295070e-01 -3.05656145e-03 3.44763591e+02] [ 9.70225510e-01 2.41924480e-01 -1.16191707e-02 2.17302958e+02] [ 1.20134811e-02 -1.54815845e-04 9.99927824e-01 5.06773780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.82028169299997 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:344.79, Y:217.35, Z:5.07 [[ 2.38824121e-01 -9.71058039e-01 -3.05347499e-03 3.44788084e+02] [ 9.70988531e-01 2.38843565e-01 -1.16199818e-02 2.17353122e+02] [ 1.20129796e-02 -1.89757257e-04 9.99927824e-01 5.06593663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.880281693 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:344.82, Y:217.40, Z:5.06 [[ 2.38823425e-01 -9.71058221e-01 -3.05025762e-03 3.44818693e+02] [ 9.70988702e-01 2.38842830e-01 -1.16208263e-02 2.17401159e+02] [ 1.20130311e-02 -1.86440149e-04 9.99927824e-01 5.05659511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.940281693 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:344.84, Y:217.45, Z:5.06 [[ 2.42795922e-01 -9.70072603e-01 -3.04708437e-03 3.44842378e+02] [ 9.70002995e-01 2.42815005e-01 -1.16216583e-02 2.17451882e+02] [ 1.20137301e-02 -1.33989724e-04 9.99927824e-01 5.05820920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.000281693 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:344.86, Y:217.50, Z:5.06 [[ 2.56444473e-01 -9.66554172e-01 -3.04391678e-03 3.44862202e+02] [ 9.66484292e-01 2.56462535e-01 -1.16224879e-02 2.17501906e+02] [ 1.20144147e-02 3.86250210e-05 9.99927824e-01 5.06238857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.060281693 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:344.88, Y:217.55, Z:5.06 [[ 2.65008373e-01 -9.64241317e-01 -3.04068315e-03 3.44877394e+02] [ 9.64171269e-01 2.65025775e-01 -1.16233338e-02 2.17553412e+02] [ 1.20135581e-02 1.48541440e-04 9.99927824e-01 5.05937768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.120281693 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:344.89, Y:217.61, Z:5.06 [[ 2.72354329e-01 -9.62192232e-01 -3.03779095e-03 3.44891399e+02] [ 9.62122046e-01 2.72371161e-01 -1.16240896e-02 2.17605201e+02] [ 1.20120154e-02 2.43145482e-04 9.99927824e-01 5.05691320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.180281693 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:344.90, Y:217.66, Z:5.06 [[ 2.74648472e-01 -9.61539914e-01 -3.03486415e-03 3.44903832e+02] [ 9.61469680e-01 2.74665101e-01 -1.16248537e-02 2.17658048e+02] [ 1.20113321e-02 2.74818446e-04 9.99927824e-01 5.06099937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.240281693 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:344.91, Y:217.71, Z:5.07 [[ 2.75674300e-01 -9.61246320e-01 -3.03188088e-03 3.44913191e+02] [ 9.61176059e-01 2.75690819e-01 -1.16256317e-02 2.17713110e+02] [ 1.20109574e-02 2.90716574e-04 9.99927824e-01 5.06978423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.30028169299993 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:344.92, Y:217.77, Z:5.07 [[ 2.76308542e-01 -9.61064210e-01 -3.02895346e-03 3.44922590e+02] [ 9.60993930e-01 2.76324979e-01 -1.16263944e-02 2.17765755e+02] [ 1.20106870e-02 3.01666202e-04 9.99927824e-01 5.06890956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.36028169299993 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:344.93, Y:217.82, Z:5.07 [[ 2.77702285e-01 -9.60662421e-01 -3.02565828e-03 3.44928818e+02] [ 9.60592108e-01 2.77718580e-01 -1.16272519e-02 2.17821533e+02] [ 1.20101454e-02 3.22490952e-04 9.99927824e-01 5.06656168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.42028169299994 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:344.94, Y:217.88, Z:5.06 [[ 2.77105402e-01 -9.60834773e-01 -3.02259328e-03 3.44936431e+02] [ 9.60764461e-01 2.77121704e-01 -1.16280486e-02 2.17876301e+02] [ 1.20102596e-02 3.18194877e-04 9.99927824e-01 5.06260318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.48028169299994 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:344.94, Y:217.93, Z:5.06 [[ 2.72968487e-01 -9.62018235e-01 -3.01997559e-03 3.44940937e+02] [ 9.61947987e-01 2.72985059e-01 -1.16287284e-02 2.17930531e+02] [ 1.20114570e-02 2.69216958e-04 9.99927824e-01 5.05849476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.54028169299994 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:344.95, Y:217.98, Z:5.07 [[ 2.68277094e-01 -9.63337065e-01 -3.01659346e-03 3.44950615e+02] [ 9.63266889e-01 2.68293968e-01 -1.16296057e-02 2.17984963e+02] [ 1.20125640e-02 2.14172225e-04 9.99927824e-01 5.06668746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.60028169299994 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:344.96, Y:218.04, Z:5.07 [[ 2.60121927e-01 -9.65571074e-01 -3.01384154e-03 3.44958214e+02] [ 9.65501035e-01 2.60139361e-01 -1.16303188e-02 2.18039155e+02] [ 1.20139182e-02 1.15433823e-04 9.99927824e-01 5.07428515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.66028169299994 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:344.97, Y:218.09, Z:5.07 [[ 2.56526611e-01 -9.66532479e-01 -3.01071071e-03 3.44968903e+02] [ 9.66462496e-01 2.56544267e-01 -1.16311292e-02 2.18092809e+02] [ 1.20142447e-02 7.39551786e-05 9.99927824e-01 5.06927816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.72028169299995 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:344.98, Y:218.15, Z:5.06 [[ 2.52287141e-01 -9.67647743e-01 -3.00742790e-03 3.44978889e+02] [ 9.67577827e-01 2.52305064e-01 -1.16319780e-02 2.18146002e+02] [ 1.20144465e-02 2.46779206e-05 9.99927824e-01 5.06350163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.78028169299995 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:344.99, Y:218.20, Z:5.06 [[ 2.51385883e-01 -9.67882282e-01 -3.00418001e-03 3.44990104e+02] [ 9.67812374e-01 2.51403833e-01 -1.16328168e-02 2.18199898e+02] [ 1.20144596e-02 1.68433349e-05 9.99927824e-01 5.06249565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.84028169299995 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:345.00, Y:218.25, Z:5.07 [[ 2.51327751e-01 -9.67897389e-01 -3.00099063e-03 3.45001991e+02] [ 9.67827471e-01 2.51345666e-01 -1.16336395e-02 2.18254293e+02] [ 1.20144553e-02 1.94152701e-05 9.99927824e-01 5.06800924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.90028169299995 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:345.01, Y:218.31, Z:5.07 [[ 2.52844736e-01 -9.67502223e-01 -2.99808045e-03 3.45014090e+02] [ 9.67432268e-01 2.52862507e-01 -1.16343894e-02 2.18308008e+02] [ 1.20143998e-02 4.12543464e-05 9.99927824e-01 5.07093212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.96028169299996 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:345.03, Y:218.36, Z:5.07 [[ 2.57471882e-01 -9.66281150e-01 -2.99495181e-03 3.45027670e+02] [ 9.66211102e-01 2.57489280e-01 -1.16351947e-02 2.18360387e+02] [ 1.20140373e-02 1.01979790e-04 9.99927824e-01 5.06532668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.02028169299996 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:345.04, Y:218.41, Z:5.06 [[ 2.62529087e-01 -9.64919442e-01 -2.99158764e-03 3.45038033e+02] [ 9.64849294e-01 2.62546077e-01 -1.16360597e-02 2.18413076e+02] [ 1.20132898e-02 1.68372901e-04 9.99927824e-01 5.06333188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.08028169299996 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:345.05, Y:218.47, Z:5.07 [[ 2.70182517e-01 -9.62804485e-01 -2.98847602e-03 3.45045353e+02] [ 9.62734196e-01 2.70198912e-01 -1.16368588e-02 2.18468102e+02] [ 1.20115028e-02 2.66967733e-04 9.99927824e-01 5.06723534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.14028169299996 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:345.06, Y:218.52, Z:5.07 [[ 2.74792413e-01 -9.61498942e-01 -2.98554667e-03 3.45055406e+02] [ 9.61428567e-01 2.74808436e-01 -1.16376103e-02 2.18522266e+02] [ 1.20100034e-02 3.27537157e-04 9.99927824e-01 5.06854118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.20028169299997 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:345.06, Y:218.58, Z:5.07 [[ 2.78738243e-01 -9.60362483e-01 -2.98227899e-03 3.45063458e+02] [ 9.60292033e-01 2.78753937e-01 -1.16384476e-02 2.18575284e+02] [ 1.20084504e-02 3.80221674e-04 9.99927824e-01 5.06906484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.26028169299997 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:345.07, Y:218.63, Z:5.07 [[ 2.80770527e-01 -9.59770304e-01 -2.97891037e-03 3.45070803e+02] [ 9.59699813e-01 2.80786031e-01 -1.16393097e-02 2.18630653e+02] [ 1.20075003e-02 4.09115400e-04 9.99927824e-01 5.07261362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.32028169299997 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:345.07, Y:218.69, Z:5.07 [[ 2.84057045e-01 -9.58802764e-01 -2.97588102e-03 3.45074590e+02] [ 9.58732212e-01 2.84072271e-01 -1.16400842e-02 2.18687148e+02] [ 1.20059102e-02 4.53374927e-04 9.99927824e-01 5.06946265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.380281693 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:345.08, Y:218.74, Z:5.06 [[ 2.83166638e-01 -9.59066117e-01 -2.97286143e-03 3.45082504e+02] [ 9.58995572e-01 2.83181893e-01 -1.16408554e-02 2.18743438e+02] [ 1.20062105e-02 4.45340922e-04 9.99927824e-01 5.06418205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.440281693 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:345.09, Y:218.80, Z:5.07 [[ 2.77051349e-01 -9.60850524e-01 -2.97013849e-03 3.45086257e+02] [ 9.60780069e-01 2.77067020e-01 -1.16415501e-02 2.18799499e+02] [ 1.20087169e-02 3.71657278e-04 9.99927824e-01 5.06976676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.500281693 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:345.10, Y:218.86, Z:5.07 [[ 2.70249623e-01 -9.62785717e-01 -2.96712455e-03 3.45095401e+02] [ 9.62715367e-01 2.70265755e-01 -1.16423182e-02 2.18855029e+02] [ 1.20109698e-02 2.89835706e-04 9.99927824e-01 5.07406670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.560281693 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:345.11, Y:218.91, Z:5.07 [[ 2.62735846e-01 -9.64863248e-01 -2.96437320e-03 3.45105749e+02] [ 9.64793018e-01 2.62752493e-01 -1.16430187e-02 2.18910019e+02] [ 1.20128173e-02 1.99031801e-04 9.99927824e-01 5.07111567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.620281693 meters Centerline goodness : 0.998942 with order 1 Centerline is valid? [True, True] Translation: X:345.12, Y:218.97, Z:5.07 [[ 2.60137371e-01 -9.65567076e-01 -2.96131767e-03 3.45116567e+02] [ 9.65496882e-01 2.60154170e-01 -1.16437958e-02 2.18965001e+02] [ 1.20132650e-02 1.69843449e-04 9.99927824e-01 5.07111809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.680281693 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:345.13, Y:219.02, Z:5.07 [[ 2.54593843e-01 -9.67043548e-01 -2.95820106e-03 3.45125078e+02] [ 9.66973443e-01 2.54611007e-01 -1.16445875e-02 2.19020312e+02] [ 1.20140138e-02 1.04138430e-04 9.99927824e-01 5.06994690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.740281693 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:345.14, Y:219.07, Z:5.07 [[ 2.52487117e-01 -9.67595744e-01 -2.95509064e-03 3.45135523e+02] [ 9.67525666e-01 2.52504397e-01 -1.16453768e-02 2.19074681e+02] [ 1.20141904e-02 8.11815814e-05 9.99927824e-01 5.06928776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.80028169299993 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:345.14, Y:219.13, Z:5.07 [[ 2.53117335e-01 -9.67431083e-01 -2.95192057e-03 3.45140428e+02] [ 9.67360985e-01 2.53134530e-01 -1.16461803e-02 2.19130484e+02] [ 1.20141099e-02 9.22773355e-05 9.99927824e-01 5.07318182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.86028169299993 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:345.15, Y:219.19, Z:5.08 [[ 2.54706826e-01 -9.67013824e-01 -2.94891395e-03 3.45149971e+02] [ 9.66943689e-01 2.54723870e-01 -1.16469416e-02 2.19186151e+02] [ 1.20139123e-02 1.15121797e-04 9.99927824e-01 5.07844230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.92028169299994 meters Centerline goodness : 0.999298 with order 1 Centerline is valid? [True, True] Translation: X:345.16, Y:219.24, Z:5.07 [[ 2.54667062e-01 -9.67024306e-01 -2.94607810e-03 3.45155758e+02] [ 9.66954163e-01 2.54684075e-01 -1.16476589e-02 2.19240681e+02] [ 1.20138884e-02 1.17552582e-04 9.99927824e-01 5.07495328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.98028169299994 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:345.16, Y:219.30, Z:5.08 [[ 2.55006113e-01 -9.66934963e-01 -2.94285041e-03 3.45164442e+02] [ 9.66864805e-01 2.55023062e-01 -1.16484743e-02 2.19296015e+02] [ 1.20138118e-02 1.25093664e-04 9.99927824e-01 5.07800114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.04028169299994 meters Centerline goodness : 0.999399 with order 1 Centerline is valid? [True, True] Translation: X:345.17, Y:219.35, Z:5.08 [[ 2.57042432e-01 -9.66395647e-01 -2.93977702e-03 3.45172370e+02] [ 9.66325444e-01 2.57059197e-01 -1.16492499e-02 2.19350058e+02] [ 1.20134811e-02 1.53570200e-04 9.99927824e-01 5.07873901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.10028169299994 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:345.18, Y:219.40, Z:5.08 [[ 2.59043271e-01 -9.65861254e-01 -2.93644214e-03 3.45180631e+02] [ 9.65791007e-01 2.59059850e-01 -1.16500905e-02 2.19404492e+02] [ 1.20130852e-02 1.81888130e-04 9.99927824e-01 5.07740375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.16028169299994 meters Centerline goodness : 0.999344 with order 1 Centerline is valid? [True, True] Translation: X:345.19, Y:219.46, Z:5.08 [[ 2.61911912e-01 -9.65087326e-01 -2.93314740e-03 3.45187595e+02] [ 9.65017022e-01 2.61928242e-01 -1.16509199e-02 2.19458984e+02] [ 1.20124293e-02 2.20977545e-04 9.99927824e-01 5.08170325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.22028169299995 meters Centerline goodness : 0.999419 with order 1 Centerline is valid? [True, True] Translation: X:345.20, Y:219.51, Z:5.08 [[ 2.62789379e-01 -9.64848774e-01 -2.93001955e-03 3.45195232e+02] [ 9.64778446e-01 2.62805607e-01 -1.16517065e-02 2.19513372e+02] [ 1.20121603e-02 2.35124994e-04 9.99927824e-01 5.08395148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.28028169299995 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:345.20, Y:219.57, Z:5.08 [[ 2.60445733e-01 -9.65484052e-01 -2.92677913e-03 3.45198040e+02] [ 9.65413754e-01 2.60462094e-01 -1.16525204e-02 2.19569895e+02] [ 1.20126376e-02 2.09296391e-04 9.99927824e-01 5.08024211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.34028169299995 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:345.21, Y:219.62, Z:5.08 [[ 2.55218829e-01 -9.66878897e-01 -2.92379250e-03 3.45205560e+02] [ 9.66808680e-01 2.55235534e-01 -1.16532697e-02 2.19624394e+02] [ 1.20135563e-02 1.47385883e-04 9.99927824e-01 5.07847636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.40028169299995 meters Centerline goodness : 0.999045 with order 1 Centerline is valid? [True, True] Translation: X:345.22, Y:219.68, Z:5.08 [[ 2.42302613e-01 -9.70196328e-01 -2.92059844e-03 3.45215181e+02] [ 9.70126330e-01 2.42320214e-01 -1.16540702e-02 2.19678271e+02] [ 1.20144561e-02 -9.53779175e-06 9.99927824e-01 5.08100514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.46028169299996 meters Centerline goodness : 0.998903 with order 1 Centerline is valid? [True, True] Translation: X:345.23, Y:219.73, Z:5.08 [[ 2.33672748e-01 -9.72310926e-01 -2.91730058e-03 3.45230016e+02] [ 9.72241077e-01 2.33690931e-01 -1.16548957e-02 2.19731274e+02] [ 1.20139291e-02 -1.12887959e-04 9.99927824e-01 5.08326066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.52028169299996 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:345.25, Y:219.78, Z:5.08 [[ 2.27094040e-01 -9.73868474e-01 -2.91421762e-03 3.45246241e+02] [ 9.73798740e-01 2.27112657e-01 -1.16556665e-02 2.19783463e+02] [ 1.20129418e-02 -1.90929063e-04 9.99927824e-01 5.07921474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.58028169299996 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:345.26, Y:219.84, Z:5.08 [[ 2.25317235e-01 -9.74281104e-01 -2.91105246e-03 3.45262469e+02] [ 9.74211394e-01 2.25335941e-01 -1.16564569e-02 2.19835516e+02] [ 1.20126305e-02 -2.09579831e-04 9.99927824e-01 5.08101429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.64028169299996 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:345.28, Y:219.89, Z:5.08 [[ 2.25312055e-01 -9.74282312e-01 -2.90776480e-03 3.45280767e+02] [ 9.74212591e-01 2.25330723e-01 -1.16572770e-02 2.19888412e+02] [ 1.20126875e-02 -2.06256044e-04 9.99927824e-01 5.08242311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.70028169299997 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:345.30, Y:219.94, Z:5.08 [[ 2.26862486e-01 -9.73922469e-01 -2.90472767e-03 3.45296893e+02] [ 9.73852709e-01 2.26881007e-01 -1.16580337e-02 2.19941189e+02] [ 1.20130485e-02 -1.84006395e-04 9.99927824e-01 5.08235968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.76028169299997 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:345.31, Y:219.99, Z:5.09 [[ 2.32891034e-01 -9.72498507e-01 -2.90168148e-03 3.45306695e+02] [ 9.72428625e-01 2.32909086e-01 -1.16587919e-02 2.19994977e+02] [ 1.20139857e-02 -1.06450034e-04 9.99927824e-01 5.08608892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.82028169299997 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:345.32, Y:220.05, Z:5.09 [[ 2.38499762e-01 -9.71138230e-01 -2.89852685e-03 3.45317828e+02] [ 9.71068235e-01 2.38517372e-01 -1.16595761e-02 2.20049160e+02] [ 1.20144091e-02 -3.38612229e-05 9.99927824e-01 5.09184058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.880281693 meters Centerline goodness : 0.998756 with order 1 Centerline is valid? [True, True] Translation: X:345.33, Y:220.10, Z:5.08 [[ 2.44679020e-01 -9.69599811e-01 -2.89548242e-03 3.45326231e+02] [ 9.69529696e-01 2.44696148e-01 -1.16603321e-02 2.20104535e+02] [ 1.20143692e-02 4.57824489e-05 9.99927824e-01 5.08390251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.940281693 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:345.33, Y:220.16, Z:5.08 [[ 2.49459996e-01 -9.68380785e-01 -2.89247058e-03 3.45334001e+02] [ 9.68310578e-01 2.49476741e-01 -1.16610792e-02 2.20159844e+02] [ 1.20139691e-02 1.08162905e-04 9.99927824e-01 5.08383803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.000281693 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:345.34, Y:220.21, Z:5.09 [[ 2.50935583e-01 -9.67999475e-01 -2.88940971e-03 3.45341584e+02] [ 9.67929234e-01 2.50952184e-01 -1.16618376e-02 2.20213868e+02] [ 1.20137563e-02 1.29625883e-04 9.99927824e-01 5.08558910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.060281693 meters Centerline goodness : 0.999260 with order 1 Centerline is valid? [True, True] Translation: X:345.35, Y:220.27, Z:5.09 [[ 2.50396410e-01 -9.68139095e-01 -2.88623076e-03 3.45347868e+02] [ 9.68068854e-01 2.50413012e-01 -1.16626243e-02 2.20268238e+02] [ 1.20137922e-02 1.26209137e-04 9.99927824e-01 5.08955241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.120281693 meters Centerline goodness : 0.998930 with order 1 Centerline is valid? [True, True] Translation: X:345.36, Y:220.32, Z:5.09 [[ 2.48038807e-01 -9.68745806e-01 -2.88318400e-03 3.45356211e+02] [ 9.68675597e-01 2.48055543e-01 -1.16633774e-02 2.20323274e+02] [ 1.20140377e-02 1.00100241e-04 9.99927824e-01 5.09023728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.180281693 meters Centerline goodness : 0.998963 with order 1 Centerline is valid? [True, True] Translation: X:345.36, Y:220.38, Z:5.10 [[ 2.43663201e-01 -9.69855633e-01 -2.88013027e-03 3.45360723e+02] [ 9.69785492e-01 2.43680217e-01 -1.16641315e-02 2.20379438e+02] [ 1.20143544e-02 4.90110571e-05 9.99927824e-01 5.09921140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.240281693 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:345.37, Y:220.43, Z:5.10 [[ 2.39629696e-01 -9.70860099e-01 -2.87710658e-03 3.45370758e+02] [ 9.70790019e-01 2.39646967e-01 -1.16648772e-02 2.20433100e+02] [ 1.20144537e-02 2.18462826e-06 9.99927824e-01 5.10176241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.30028169299993 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:345.38, Y:220.49, Z:5.10 [[ 2.30890122e-01 -9.72975587e-01 -2.87383513e-03 3.45380990e+02] [ 9.72905656e-01 2.30907984e-01 -1.16656832e-02 2.20485566e+02] [ 1.20140164e-02 -1.02479442e-04 9.99927824e-01 5.09839977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.36028169299993 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:345.39, Y:220.54, Z:5.10 [[ 2.23831745e-01 -9.74623574e-01 -2.87047579e-03 3.45393880e+02] [ 9.74553763e-01 2.23850073e-01 -1.16665097e-02 2.20538086e+02] [ 1.20130116e-02 -1.86097757e-04 9.99927824e-01 5.09916586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.42028169299994 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:345.41, Y:220.59, Z:5.10 [[ 2.15230915e-01 -9.76558975e-01 -2.86718222e-03 3.45411370e+02] [ 9.76489319e-01 2.15249818e-01 -1.16673191e-02 2.20591388e+02] [ 1.20109856e-02 -2.88605046e-04 9.99927824e-01 5.10269918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.48028169299994 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:345.43, Y:220.64, Z:5.10 [[ 2.11226414e-01 -9.77432964e-01 -2.86418234e-03 3.45428510e+02] [ 9.77363375e-01 2.11245567e-01 -1.16680555e-02 2.20643469e+02] [ 1.20097879e-02 -3.34745403e-04 9.99927824e-01 5.10079008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.54028169299994 meters Centerline goodness : 0.999279 with order 1 Centerline is valid? [True, True] Translation: X:345.44, Y:220.70, Z:5.10 [[ 2.10121253e-01 -9.77671146e-01 -2.86155632e-03 3.45443895e+02] [ 9.77601571e-01 2.10140453e-01 -1.16686995e-02 2.20696102e+02] [ 1.20094795e-02 -3.45620202e-04 9.99927824e-01 5.09984983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.60028169299994 meters Centerline goodness : 0.999366 with order 1 Centerline is valid? [True, True] Translation: X:345.46, Y:220.75, Z:5.10 [[ 2.09117792e-01 -9.77886281e-01 -2.85840310e-03 3.45464858e+02] [ 9.77816715e-01 2.09137026e-01 -1.16694718e-02 2.20746890e+02] [ 1.20092143e-02 -3.54700146e-04 9.99927824e-01 5.10463300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.66028169299994 meters Centerline goodness : 0.999281 with order 1 Centerline is valid? [True, True] Translation: X:345.48, Y:220.80, Z:5.10 [[ 2.09732908e-01 -9.77754547e-01 -2.85540286e-03 3.45483443e+02] [ 9.77684959e-01 2.09752063e-01 -1.16702059e-02 2.20798414e+02] [ 1.20095235e-02 -3.44058200e-04 9.99927824e-01 5.10457185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.72028169299995 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:345.51, Y:220.85, Z:5.11 [[ 2.13149933e-01 -9.77015338e-01 -2.85228223e-03 3.45507318e+02] [ 9.76945673e-01 2.13168806e-01 -1.16709686e-02 2.20850060e+02] [ 1.20107329e-02 -2.98858615e-04 9.99927824e-01 5.10994941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.78028169299995 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:345.53, Y:220.90, Z:5.11 [[ 2.15329818e-01 -9.76537224e-01 -2.84951214e-03 3.45525837e+02] [ 9.76467508e-01 2.15348503e-01 -1.16716449e-02 2.20901679e+02] [ 1.20114338e-02 -2.69202852e-04 9.99927824e-01 5.11278633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.84028169299995 meters Centerline goodness : 0.999085 with order 1 Centerline is valid? [True, True] Translation: X:345.55, Y:220.95, Z:5.11 [[ 2.15522701e-01 -9.76494682e-01 -2.84633818e-03 3.45548198e+02] [ 9.76424953e-01 2.15541334e-01 -1.16724188e-02 2.20953251e+02] [ 1.20115585e-02 -2.63564386e-04 9.99927824e-01 5.10799326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.90028169299995 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:345.57, Y:221.00, Z:5.10 [[ 2.17474180e-01 -9.76061933e-01 -2.84324039e-03 3.45570814e+02] [ 9.75992157e-01 2.17492637e-01 -1.16731734e-02 2.21004536e+02] [ 1.20121240e-02 -2.36366507e-04 9.99927824e-01 5.10317994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.96028169299996 meters Centerline goodness : 0.998901 with order 1 Centerline is valid? [True, True] Translation: X:345.59, Y:221.06, Z:5.11 [[ 2.18408748e-01 -9.75853243e-01 -2.84015931e-03 3.45587900e+02] [ 9.75783440e-01 2.18427102e-01 -1.16739230e-02 2.21056981e+02] [ 1.20124034e-02 -2.21693518e-04 9.99927824e-01 5.10527201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.02028169299996 meters Centerline goodness : 0.998746 with order 1 Centerline is valid? [True, True] Translation: X:345.60, Y:221.11, Z:5.11 [[ 2.20088972e-01 -9.75475677e-01 -2.83686311e-03 3.45603725e+02] [ 9.75405832e-01 2.20107165e-01 -1.16747239e-02 2.21108222e+02] [ 1.20128231e-02 -1.97614840e-04 9.99927824e-01 5.10718163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.08028169299996 meters Centerline goodness : 0.998861 with order 1 Centerline is valid? [True, True] Translation: X:345.62, Y:221.16, Z:5.11 [[ 2.21454509e-01 -9.75166587e-01 -2.83353026e-03 3.45618742e+02] [ 9.75096705e-01 2.21472565e-01 -1.16755328e-02 2.21160373e+02] [ 1.20131386e-02 -1.77366647e-04 9.99927824e-01 5.10827678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.14028169299996 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:345.63, Y:221.21, Z:5.11 [[ 2.23780895e-01 -9.74635368e-01 -2.83033199e-03 3.45631976e+02] [ 9.74565434e-01 2.23798745e-01 -1.16763080e-02 2.21213925e+02] [ 1.20135675e-02 -1.45409064e-04 9.99927824e-01 5.11069689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.20028169299997 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:345.65, Y:221.27, Z:5.11 [[ 2.24126999e-01 -9.74555845e-01 -2.82740346e-03 3.45647059e+02] [ 9.74485895e-01 2.24144790e-01 -1.16770171e-02 2.21265462e+02] [ 1.20136530e-02 -1.38129982e-04 9.99927824e-01 5.11248336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.26028169299997 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:345.66, Y:221.32, Z:5.11 [[ 2.23695738e-01 -9.74654934e-01 -2.82415229e-03 3.45661777e+02] [ 9.74584983e-01 2.23713521e-01 -1.16778034e-02 2.21318942e+02] [ 1.20136297e-02 -1.40101559e-04 9.99927824e-01 5.10945361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.32028169299997 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:345.67, Y:221.37, Z:5.12 [[ 2.26619584e-01 -9.73979263e-01 -2.82114861e-03 3.45671862e+02] [ 9.73909250e-01 2.26637121e-01 -1.16785290e-02 2.21371945e+02] [ 1.20140220e-02 -1.00959347e-04 9.99927824e-01 5.11819441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.380281693 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:345.68, Y:221.43, Z:5.12 [[ 2.30388782e-01 -9.73094583e-01 -2.81804265e-03 3.45682512e+02] [ 9.73024494e-01 2.30406010e-01 -1.16792784e-02 2.21425463e+02] [ 1.20143365e-02 -5.12498006e-05 9.99927824e-01 5.12304934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.440281693 meters Centerline goodness : 0.998874 with order 1 Centerline is valid? [True, True] Translation: X:345.69, Y:221.48, Z:5.12 [[ 2.32654900e-01 -9.72555281e-01 -2.81474560e-03 3.45688932e+02] [ 9.72485142e-01 2.32671926e-01 -1.16800729e-02 2.21481304e+02] [ 1.20144289e-02 -1.98720694e-05 9.99927824e-01 5.11519871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.500281693 meters Centerline goodness : 0.999112 with order 1 Centerline is valid? [True, True] Translation: X:345.70, Y:221.54, Z:5.12 [[ 2.31037206e-01 -9.72940853e-01 -2.81164969e-03 3.45697580e+02] [ 9.72870733e-01 2.31054311e-01 -1.16808182e-02 2.21535113e+02] [ 1.20143890e-02 -3.66681089e-05 9.99927824e-01 5.11661600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.560281693 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:345.70, Y:221.59, Z:5.12 [[ 2.24638540e-01 -9.74438114e-01 -2.80842764e-03 3.45704382e+02] [ 9.74368099e-01 2.24656067e-01 -1.16815928e-02 2.21589412e+02] [ 1.20139196e-02 -1.12306348e-04 9.99927824e-01 5.12220281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.620281693 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:345.72, Y:221.64, Z:5.12 [[ 2.19760485e-01 -9.75549824e-01 -2.80531497e-03 3.45715031e+02] [ 9.75479888e-01 2.19778324e-01 -1.16823402e-02 2.21643325e+02] [ 1.20132524e-02 -1.69211577e-04 9.99927824e-01 5.12141195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.680281693 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:345.72, Y:221.70, Z:5.12 [[ 2.15732978e-01 -9.76448376e-01 -2.80214523e-03 3.45724163e+02] [ 9.76378503e-01 2.15751068e-01 -1.16831005e-02 2.21697484e+02] [ 1.20125103e-02 -2.15524305e-04 9.99927824e-01 5.12087695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.740281693 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:345.73, Y:221.75, Z:5.12 [[ 2.15568503e-01 -9.76484709e-01 -2.79897683e-03 3.45733467e+02] [ 9.76414830e-01 2.15586567e-01 -1.16838595e-02 2.21751493e+02] [ 1.20125319e-02 -2.14290381e-04 9.99927824e-01 5.12358210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.80028169299993 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:345.74, Y:221.81, Z:5.13 [[ 2.17561790e-01 -9.76042546e-01 -2.79568507e-03 3.45744178e+02] [ 9.75972620e-01 2.17579671e-01 -1.16846471e-02 2.21806066e+02] [ 1.20129969e-02 -1.86379353e-04 9.99927824e-01 5.12623564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.86028169299993 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:345.76, Y:221.86, Z:5.13 [[ 2.18373792e-01 -9.75861203e-01 -2.79268568e-03 3.45755655e+02] [ 9.75791253e-01 2.18391580e-01 -1.16853639e-02 2.21859295e+02] [ 1.20131923e-02 -1.73301026e-04 9.99927824e-01 5.12843068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.92028169299994 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:345.77, Y:221.91, Z:5.13 [[ 2.18447487e-01 -9.75844719e-01 -2.78933811e-03 3.45770487e+02] [ 9.75774757e-01 2.18465229e-01 -1.16861629e-02 2.21911330e+02] [ 1.20132538e-02 -1.68952792e-04 9.99927824e-01 5.13329599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.98028169299994 meters Centerline goodness : 0.999237 with order 1 Centerline is valid? [True, True] Translation: X:345.79, Y:221.96, Z:5.13 [[ 2.15528080e-01 -9.76493668e-01 -2.78616339e-03 3.45787493e+02] [ 9.76423751e-01 2.15545993e-01 -1.16869198e-02 2.21963445e+02] [ 1.20127495e-02 -2.01616724e-04 9.99927824e-01 5.13469303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.04028169299994 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:345.81, Y:222.02, Z:5.13 [[ 2.13590270e-01 -9.76919368e-01 -2.78291447e-03 3.45809132e+02] [ 9.76849476e-01 2.13608283e-01 -1.16876934e-02 2.22015025e+02] [ 1.20123876e-02 -2.22110959e-04 9.99927824e-01 5.13057005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.10028169299994 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:345.83, Y:222.07, Z:5.13 [[ 2.17257425e-01 -9.76110385e-01 -2.77982722e-03 3.45825334e+02] [ 9.76040417e-01 2.17275138e-01 -1.16884276e-02 2.22068356e+02] [ 1.20131829e-02 -1.73826035e-04 9.99927824e-01 5.12789184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.16028169299994 meters Centerline goodness : 0.999385 with order 1 Centerline is valid? [True, True] Translation: X:345.84, Y:222.12, Z:5.13 [[ 2.32115962e-01 -9.72684157e-01 -2.77682453e-03 3.45837583e+02] [ 9.72613918e-01 2.32132571e-01 -1.16891409e-02 2.22120056e+02] [ 1.20144336e-02 1.24580047e-05 9.99927824e-01 5.13020257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.22028169299995 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:345.84, Y:222.17, Z:5.13 [[ 2.42965143e-01 -9.70031055e-01 -2.77327138e-03 3.45844111e+02] [ 9.69960626e-01 2.42980923e-01 -1.16899839e-02 2.22174543e+02] [ 1.20134994e-02 1.50294553e-04 9.99927824e-01 5.13419732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.28028169299995 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:345.85, Y:222.23, Z:5.12 [[ 2.48105111e-01 -9.68729158e-01 -2.76990854e-03 3.45850851e+02] [ 9.68658637e-01 2.48120478e-01 -1.16907806e-02 2.22229239e+02] [ 1.20124711e-02 2.17446601e-04 9.99927824e-01 5.12490904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.34028169299995 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:345.86, Y:222.29, Z:5.14 [[ 2.40317613e-01 -9.70690368e-01 -2.76678517e-03 3.45857430e+02] [ 9.70619964e-01 2.40333507e-01 -1.16915198e-02 2.22285066e+02] [ 1.20137968e-02 1.24181202e-04 9.99927824e-01 5.13621912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.40028169299995 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:345.87, Y:222.34, Z:5.14 [[ 2.30877157e-01 -9.72978981e-01 -2.76436220e-03 3.45871849e+02] [ 9.72908727e-01 2.30893706e-01 -1.16920926e-02 2.22337601e+02] [ 1.20144342e-02 9.96500331e-06 9.99927824e-01 5.14216822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.46028169299996 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:345.89, Y:222.39, Z:5.14 [[ 2.26052002e-01 -9.74111323e-01 -2.76108500e-03 3.45886511e+02] [ 9.74041143e-01 2.26068859e-01 -1.16928665e-02 2.22390407e+02] [ 1.20143490e-02 -4.62145146e-05 9.99927824e-01 5.14448543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.52028169299996 meters Centerline goodness : 0.999384 with order 1 Centerline is valid? [True, True] Translation: X:345.90, Y:222.44, Z:5.15 [[ 2.15037828e-01 -9.76601826e-01 -2.75775419e-03 3.45903844e+02] [ 9.76531831e-01 2.15055437e-01 -1.16936520e-02 2.22441998e+02] [ 1.20131119e-02 -1.78457221e-04 9.99927824e-01 5.14517010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.58028169299996 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:345.92, Y:222.49, Z:5.15 [[ 2.11610920e-01 -9.77350107e-01 -2.75440425e-03 3.45923188e+02] [ 9.77280164e-01 2.11628734e-01 -1.16944410e-02 2.22493303e+02] [ 1.20124743e-02 -2.17153217e-04 9.99927824e-01 5.14594175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.64028169299996 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:345.95, Y:222.54, Z:5.14 [[ 2.16068426e-01 -9.76374348e-01 -2.75106391e-03 3.45946128e+02] [ 9.76304314e-01 2.16085881e-01 -1.16952268e-02 2.22543300e+02] [ 1.20133855e-02 -1.58906327e-04 9.99927824e-01 5.14445294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.70028169299997 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:345.96, Y:222.59, Z:5.15 [[ 2.31345999e-01 -9.72867658e-01 -2.74761863e-03 3.45962597e+02] [ 9.72797349e-01 2.31362313e-01 -1.16960361e-02 2.22594149e+02] [ 1.20143907e-02 3.29550397e-05 9.99927824e-01 5.14946197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.76028169299997 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:345.97, Y:222.65, Z:5.15 [[ 2.42017818e-01 -9.70267924e-01 -2.74422669e-03 3.45973155e+02] [ 9.70197432e-01 2.42033317e-01 -1.16968319e-02 2.22647058e+02] [ 1.20132551e-02 1.68400047e-04 9.99927824e-01 5.14675891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.82028169299997 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:345.98, Y:222.70, Z:5.15 [[ 2.55939128e-01 -9.66689014e-01 -2.74085313e-03 3.45980280e+02] [ 9.66618298e-01 2.55953571e-01 -1.16976224e-02 2.22702144e+02] [ 1.20094942e-02 3.44520476e-04 9.99927824e-01 5.15245779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.880281693 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:345.99, Y:222.76, Z:5.15 [[ 2.60773568e-01 -9.65396111e-01 -2.73791587e-03 3.45988421e+02] [ 9.65325316e-01 2.60787622e-01 -1.16983098e-02 2.22756739e+02] [ 1.20075174e-02 4.07630488e-04 9.99927824e-01 5.15288022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.940281693 meters Centerline goodness : 0.999493 with order 1 Centerline is valid? [True, True] Translation: X:345.99, Y:222.81, Z:5.15 [[ 2.59722140e-01 -9.65679518e-01 -2.73473906e-03 3.45991114e+02] [ 9.65608731e-01 2.59736233e-01 -1.16990524e-02 2.22811477e+02] [ 1.20078461e-02 3.97815019e-04 9.99927824e-01 5.14766225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.000281693 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:346.00, Y:222.87, Z:5.15 [[ 2.53191578e-01 -9.67412303e-01 -2.73161490e-03 3.45996648e+02] [ 9.67341605e-01 2.53206111e-01 -1.16997818e-02 2.22865770e+02] [ 1.20101745e-02 3.19881490e-04 9.99927824e-01 5.14938331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.060281693 meters Centerline goodness : 0.999597 with order 1 Centerline is valid? [True, True] Translation: X:346.00, Y:222.92, Z:5.15 [[ 2.49909546e-01 -9.68265343e-01 -2.72864246e-03 3.46002049e+02] [ 9.68194687e-01 2.49924282e-01 -1.17004750e-02 2.22921033e+02] [ 1.20111185e-02 2.82203261e-04 9.99927824e-01 5.15321639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.120281693 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:346.01, Y:222.98, Z:5.15 [[ 2.50031591e-01 -9.68233844e-01 -2.72535781e-03 3.46008536e+02] [ 9.68163178e-01 2.50046279e-01 -1.17012401e-02 2.22976817e+02] [ 1.20110022e-02 2.87088591e-04 9.99927824e-01 5.15276340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.180281693 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:346.01, Y:223.03, Z:5.15 [[ 2.49165231e-01 -9.68457163e-01 -2.72237701e-03 3.46013774e+02] [ 9.68386503e-01 2.49179946e-01 -1.17019335e-02 2.23032070e+02] [ 1.20111831e-02 2.79401815e-04 9.99927824e-01 5.15081891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.240281693 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:346.02, Y:223.09, Z:5.14 [[ 2.44295268e-01 -9.69697080e-01 -2.71931876e-03 3.46020351e+02] [ 9.69626487e-01 2.44310301e-01 -1.17026442e-02 2.23087911e+02] [ 1.20123775e-02 2.22177095e-04 9.99927824e-01 5.14466213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.30028169299993 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:346.03, Y:223.14, Z:5.16 [[ 2.36218954e-01 -9.71696057e-01 -2.71631433e-03 3.46030219e+02] [ 9.71625584e-01 2.36234537e-01 -1.17033415e-02 2.23142715e+02] [ 1.20137780e-02 1.25310582e-04 9.99927824e-01 5.15572029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.36028169299993 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:346.04, Y:223.20, Z:5.15 [[ 2.27914212e-01 -9.73677436e-01 -2.71325395e-03 3.46040567e+02] [ 9.73607090e-01 2.27930361e-01 -1.17040509e-02 2.23196330e+02] [ 1.20144033e-02 2.58762686e-05 9.99927824e-01 5.15212856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.42028169299994 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:346.05, Y:223.25, Z:5.15 [[ 2.22528479e-01 -9.74922422e-01 -2.71055135e-03 3.46052967e+02] [ 9.74852159e-01 2.22544983e-01 -1.17046768e-02 2.23249622e+02] [ 1.20143715e-02 -3.77629098e-05 9.99927824e-01 5.15052831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.48028169299994 meters Centerline goodness : 0.999427 with order 1 Centerline is valid? [True, True] Translation: X:346.07, Y:223.30, Z:5.16 [[ 2.15204416e-01 -9.76565271e-01 -2.70736116e-03 3.46068598e+02] [ 9.76495125e-01 2.15221410e-01 -1.17054147e-02 2.23303206e+02] [ 1.20137835e-02 -1.24668039e-04 9.99927824e-01 5.15534699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.54028169299994 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:346.09, Y:223.36, Z:5.16 [[ 2.08110663e-01 -9.78101548e-01 -2.70432550e-03 3.46086478e+02] [ 9.78031517e-01 2.08128129e-01 -1.17061160e-02 2.23355931e+02] [ 1.20126164e-02 -2.08748019e-04 9.99927824e-01 5.15955567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.60028169299994 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:346.11, Y:223.41, Z:5.16 [[ 2.02983442e-01 -9.79178444e-01 -2.70119741e-03 3.46105751e+02] [ 9.79108497e-01 2.03001236e-01 -1.17068377e-02 2.23407021e+02] [ 1.20114296e-02 -2.68471125e-04 9.99927824e-01 5.16041994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.66028169299994 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:346.13, Y:223.46, Z:5.16 [[ 2.03696609e-01 -9.79030343e-01 -2.69796202e-03 3.46125666e+02] [ 9.78960372e-01 2.03714314e-01 -1.17075833e-02 2.23458181e+02] [ 1.20116928e-02 -2.56402884e-04 9.99927824e-01 5.16358657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.72028169299995 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:346.14, Y:223.51, Z:5.17 [[ 2.06561803e-01 -9.78429844e-01 -2.69467537e-03 3.46141296e+02] [ 9.78359812e-01 2.06579264e-01 -1.17083397e-02 2.23511002e+02] [ 1.20124531e-02 -2.17866326e-04 9.99927824e-01 5.16501852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.78028169299995 meters Centerline goodness : 0.999619 with order 1 Centerline is valid? [True, True] Translation: X:346.16, Y:223.56, Z:5.16 [[ 2.12505089e-01 -9.77156254e-01 -2.69133948e-03 3.46159996e+02] [ 9.77086107e-01 2.12522084e-01 -1.17091065e-02 2.23562906e+02] [ 1.20135957e-02 -1.41425701e-04 9.99927824e-01 5.16426769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.84028169299995 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:346.18, Y:223.62, Z:5.16 [[ 2.15066845e-01 -9.76595631e-01 -2.68802673e-03 3.46176308e+02] [ 9.76525431e-01 2.15083616e-01 -1.17098669e-02 2.23615661e+02] [ 1.20139554e-02 -1.06522328e-04 9.99927824e-01 5.16201407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.90028169299995 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:346.19, Y:223.67, Z:5.16 [[ 2.15331360e-01 -9.76537351e-01 -2.68474558e-03 3.46192539e+02] [ 9.76467137e-01 2.15348073e-01 -1.17106192e-02 2.23668304e+02] [ 1.20140118e-02 -9.99022796e-05 9.99927824e-01 5.16377827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.96028169299996 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:346.21, Y:223.72, Z:5.16 [[ 2.15173192e-01 -9.76572223e-01 -2.68144067e-03 3.46208038e+02] [ 9.76502002e-01 2.15189877e-01 -1.17113759e-02 2.23719995e+02] [ 1.20140233e-02 -9.84580476e-05 9.99927824e-01 5.16086316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.02028169299996 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:346.22, Y:223.77, Z:5.17 [[ 2.19788245e-01 -9.75543927e-01 -2.67840860e-03 3.46222973e+02] [ 9.75473619e-01 2.19804561e-01 -1.17120693e-02 2.23773921e+02] [ 1.20143645e-02 -3.85417812e-05 9.99927824e-01 5.17029634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.08028169299996 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:346.23, Y:223.83, Z:5.17 [[ 2.23505637e-01 -9.74698965e-01 -2.67550836e-03 3.46234983e+02] [ 9.74628588e-01 2.23521650e-01 -1.17127318e-02 2.23827330e+02] [ 1.20144216e-02 1.02346365e-05 9.99927824e-01 5.16702877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.14028169299996 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:346.25, Y:223.88, Z:5.17 [[ 2.28019573e-01 -9.73652882e-01 -2.67219938e-03 3.46245444e+02] [ 9.73582422e-01 2.28035220e-01 -1.17134866e-02 2.23880861e+02] [ 1.20142256e-02 6.92978743e-05 9.99927824e-01 5.16806157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.20028169299997 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:346.25, Y:223.93, Z:5.17 [[ 2.34855188e-01 -9.72026706e-01 -2.66887184e-03 3.46252516e+02] [ 9.71956130e-01 2.34870300e-01 -1.17142448e-02 2.23934596e+02] [ 1.20133975e-02 1.57124810e-04 9.99927824e-01 5.16979610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.26028169299997 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:346.26, Y:223.99, Z:5.17 [[ 2.38950667e-01 -9.71028050e-01 -2.66542717e-03 3.46257843e+02] [ 9.70957402e-01 2.38965440e-01 -1.17150285e-02 2.23988813e+02] [ 1.20125662e-02 2.11297631e-04 9.99927824e-01 5.16955108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.32028169299997 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:346.26, Y:224.04, Z:5.18 [[ 2.41630100e-01 -9.70364780e-01 -2.66233137e-03 3.46264490e+02] [ 9.70294084e-01 2.41644640e-01 -1.17157320e-02 2.24043765e+02] [ 1.20118718e-02 2.47629111e-04 9.99927824e-01 5.17598174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.380281693 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:346.27, Y:224.10, Z:5.18 [[ 2.41152448e-01 -9.70483604e-01 -2.65929519e-03 3.46269436e+02] [ 9.70412907e-01 2.41166986e-01 -1.17164211e-02 2.24098438e+02] [ 1.20119288e-02 2.44829260e-04 9.99927824e-01 5.17713993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.440281693 meters Centerline goodness : 0.998051 with order 1 Centerline is valid? [True, True] Translation: X:346.28, Y:224.15, Z:5.18 [[ 2.34030114e-01 -9.72225721e-01 -2.65594484e-03 3.46276192e+02] [ 9.72155124e-01 2.34045129e-01 -1.17171805e-02 2.24152862e+02] [ 1.20133553e-02 1.60182710e-04 9.99927824e-01 5.17940432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.500281693 meters Centerline goodness : 0.997004 with order 1 Centerline is valid? [True, True] Translation: X:346.29, Y:224.21, Z:5.19 [[ 2.27555241e-01 -9.73761559e-01 -2.65308832e-03 3.46288944e+02] [ 9.73691056e-01 2.27570692e-01 -1.17178273e-02 2.24207060e+02] [ 1.20141349e-02 8.31646542e-05 9.99927824e-01 5.18751063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.560281693 meters Centerline goodness : 0.994937 with order 1 Centerline is valid? [True, True] Translation: X:346.30, Y:224.26, Z:5.19 [[ 2.20995464e-01 -9.75271235e-01 -2.65019630e-03 3.46302254e+02] [ 9.75200830e-01 2.21011354e-01 -1.17184813e-02 2.24260798e+02] [ 1.20144212e-02 5.25758894e-06 9.99927824e-01 5.18629614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.620281693 meters Centerline goodness : 0.991594 with order 1 Centerline is valid? [True, True] Translation: X:346.32, Y:224.31, Z:5.19 [[ 2.15482339e-01 -9.76504150e-01 -2.64714601e-03 3.46318447e+02] [ 9.76433827e-01 2.15498590e-01 -1.17191704e-02 2.24312848e+02] [ 1.20142747e-02 -5.94886621e-05 9.99927824e-01 5.19180679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.680281693 meters Centerline goodness : 0.989136 with order 1 Centerline is valid? [True, True] Translation: X:346.33, Y:224.37, Z:5.19 [[ 2.10756144e-01 -9.77535091e-01 -2.64446751e-03 3.46334228e+02] [ 9.77464841e-01 2.10772703e-01 -1.17197747e-02 2.24365830e+02] [ 1.20138726e-02 -1.14859487e-04 9.99927824e-01 5.18714369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.740281693 meters Centerline goodness : 0.983595 with order 1 Centerline is valid? [True, True] Translation: X:346.35, Y:224.42, Z:5.18 [[ 2.09870198e-01 -9.77725689e-01 -2.64147047e-03 3.46352723e+02] [ 9.77655445e-01 2.09886785e-01 -1.17204502e-02 2.24417830e+02] [ 1.20137950e-02 -1.22674784e-04 9.99927824e-01 5.17745430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.80028169299993 meters Centerline goodness : 0.983333 with order 1 Centerline is valid? [True, True] Translation: X:346.37, Y:224.47, Z:5.19 [[ 2.10442613e-01 -9.77602654e-01 -2.63762150e-03 3.46368659e+02] [ 9.77532390e-01 2.10459112e-01 -1.17213163e-02 2.24471333e+02] [ 1.20139014e-02 -1.11696020e-04 9.99927824e-01 5.19199788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.86028169299993 meters Centerline goodness : 0.978149 with order 1 Centerline is valid? [True, True] Translation: X:346.38, Y:224.53, Z:5.18 [[ 2.17396663e-01 -9.76079788e-01 -2.63409149e-03 3.46379760e+02] [ 9.76009398e-01 2.17412619e-01 -1.17221095e-02 2.24526019e+02] [ 1.20143989e-02 -2.25505480e-05 9.99927824e-01 5.18077398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.92028169299994 meters Centerline goodness : 0.975488 with order 1 Centerline is valid? [True, True] Translation: X:346.39, Y:224.58, Z:5.19 [[ 2.26295571e-01 -9.74055130e-01 -2.63034502e-03 3.46385666e+02] [ 9.73984587e-01 2.26310840e-01 -1.17229502e-02 2.24580617e+02] [ 1.20140753e-02 9.09361998e-05 9.99927824e-01 5.19431361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.98028169299994 meters Centerline goodness : 0.971427 with order 1 Centerline is valid? [True, True] Translation: X:346.39, Y:224.63, Z:5.19 [[ 2.30097505e-01 -9.73164034e-01 -2.62685935e-03 3.46392216e+02] [ 9.73093424e-01 2.30112456e-01 -1.17237312e-02 2.24634828e+02] [ 1.20135866e-02 1.41421730e-04 9.99927824e-01 5.19424678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.04028169299994 meters Centerline goodness : 0.962870 with order 1 Centerline is valid? [True, True] Translation: X:346.40, Y:224.69, Z:5.18 [[ 2.29517386e-01 -9.73301026e-01 -2.62358864e-03 3.46397088e+02] [ 9.73230416e-01 2.29532339e-01 -1.17244631e-02 2.24689201e+02] [ 1.20136304e-02 1.37611850e-04 9.99927824e-01 5.18324745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.10028169299994 meters Centerline goodness : 0.953954 with order 1 Centerline is valid? [True, True] Translation: X:346.40, Y:224.74, Z:5.19 [[ 2.23314473e-01 -9.74742932e-01 -2.61981654e-03 3.46404391e+02] [ 9.74672409e-01 2.23329831e-01 -1.17253059e-02 2.24742259e+02] [ 1.20142422e-02 6.49676133e-05 9.99927824e-01 5.18617771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.16028169299994 meters Centerline goodness : 0.146131 with order 1 Centerline is valid? [True, False] Translation: X:347.81, Y:222.69, Z:5.93 [[ 9.58498636e-01 2.44208844e-01 -1.47113580e-01 3.47809687e+02] [-2.45476213e-01 9.69353464e-01 9.76166792e-03 2.22689438e+02] [ 1.44988944e-01 2.67563392e-02 9.89071435e-01 5.92842674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.22028169299995 meters Centerline goodness : 0.126406 with order 1 Centerline is valid? [False, False] Translation: X:347.77, Y:222.71, Z:5.92 [[ 9.59656248e-01 2.38239806e-01 -1.49337475e-01 3.47772770e+02] [-2.40791481e-01 9.70576331e-01 1.02363760e-03 2.22708745e+02] [ 1.45187290e-01 3.49768515e-02 9.88785756e-01 5.92081931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.28028169299995 meters Centerline goodness : 0.086639 with order 1 Centerline is valid? [False, False] Translation: X:347.76, Y:222.71, Z:5.92 [[ 9.59393836e-01 2.41150131e-01 -1.46321843e-01 3.47764266e+02] [-2.43782946e-01 9.69829816e-01 -6.33454186e-05 2.22713538e+02] [ 1.41892011e-01 3.57315433e-02 9.89237036e-01 5.91746240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.34028169299995 meters Centerline goodness : 0.087038 with order 1 Centerline is valid? [False, False] Translation: X:347.76, Y:222.72, Z:5.92 [[ 9.59355723e-01 2.41479168e-01 -1.46028792e-01 3.47764157e+02] [-2.44235817e-01 9.69715374e-01 -9.79032689e-04 2.22718142e+02] [ 1.41369949e-01 3.66047020e-02 9.89279856e-01 5.91722552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.40028169299995 meters Centerline goodness : 0.085421 with order 1 Centerline is valid? [False, False] Translation: X:347.79, Y:222.75, Z:5.92 [[ 9.60928159e-01 2.31604643e-01 -1.51579559e-01 3.47786720e+02] [-2.39812951e-01 9.70072624e-01 -3.80637999e-02 2.22746278e+02] [ 1.38227428e-01 7.29273187e-02 9.87711893e-01 5.92079648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.46028169299996 meters Centerline goodness : 0.083110 with order 1 Centerline is valid? [False, False] Translation: X:347.79, Y:222.75, Z:5.92 [[ 9.60962635e-01 2.31021455e-01 -1.52249469e-01 3.47792718e+02] [-2.39468670e-01 9.70102359e-01 -3.94483203e-02 2.22753493e+02] [ 1.38584161e-01 7.43673396e-02 9.87554520e-01 5.91913640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.52028169299996 meters Centerline goodness : 0.082718 with order 1 Centerline is valid? [False, False] Translation: X:347.79, Y:222.76, Z:5.92 [[ 9.61023415e-01 2.30871567e-01 -1.52093113e-01 3.47793596e+02] [-2.39467152e-01 9.70055102e-01 -4.06027450e-02 2.22759488e+02] [ 1.38164681e-01 7.54414933e-02 9.87531823e-01 5.91955164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.58028169299996 meters Centerline goodness : 0.083982 with order 1 Centerline is valid? [False, False] Translation: X:347.79, Y:222.76, Z:5.92 [[ 9.61090880e-01 2.30644731e-01 -1.52010946e-01 3.47794548e+02] [-2.39292013e-01 9.70080211e-01 -4.10331116e-02 2.22761429e+02] [ 1.37998740e-01 7.58115547e-02 9.87526686e-01 5.91906749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.64028169299996 meters Centerline goodness : 0.083750 with order 1 Centerline is valid? [False, False] Translation: X:347.80, Y:222.77, Z:5.92 [[ 9.62010678e-01 2.26264079e-01 -1.52774418e-01 3.47798757e+02] [-2.35566119e-01 9.70789216e-01 -4.55730361e-02 2.22765948e+02] [ 1.38000216e-01 7.98302240e-02 9.87209742e-01 5.91676733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.70028169299997 meters Centerline goodness : 0.073714 with order 1 Centerline is valid? [False, False] Translation: X:347.80, Y:222.77, Z:5.92 [[ 9.63022401e-01 2.21439362e-01 -1.53468122e-01 3.47800885e+02] [-2.31438613e-01 9.71540222e-01 -5.04555738e-02 2.22771366e+02] [ 1.37927603e-01 8.41082970e-02 9.86864616e-01 5.91598758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.76028169299997 meters Centerline goodness : 0.087975 with order 1 Centerline is valid? [False, False] Translation: X:347.80, Y:222.78, Z:5.92 [[ 9.63037512e-01 2.21250036e-01 -1.53646254e-01 3.47804159e+02] [-2.31372592e-01 9.71514913e-01 -5.12396172e-02 2.22775609e+02] [ 1.37932860e-01 8.48952055e-02 9.86796499e-01 5.91509689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.82028169299997 meters Centerline goodness : 0.089153 with order 1 Centerline is valid? [False, False] Translation: X:347.80, Y:222.78, Z:5.92 [[ 9.62349791e-01 2.25510450e-01 -1.51749519e-01 3.47803298e+02] [-2.35142368e-01 9.70744769e-01 -4.86071966e-02 2.22781644e+02] [ 1.36348621e-01 8.24598667e-02 9.87223087e-01 5.91538242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.880281693 meters SLAMing on 470.940281693 meters Centerline goodness : 0.066306 with order 1 Centerline is valid? [False, False] Translation: X:347.81, Y:222.80, Z:5.91 [[ 9.63179290e-01 2.23195764e-01 -1.49897655e-01 3.47809045e+02] [-2.33094071e-01 9.71070815e-01 -5.18519741e-02 2.22798741e+02] [ 1.33988097e-01 8.48830021e-02 9.87340907e-01 5.91098551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.000281693 meters Centerline goodness : 0.063500 with order 1 Centerline is valid? [False, False] Translation: X:347.81, Y:222.81, Z:5.91 [[ 9.64290508e-01 2.17862146e-01 -1.50598481e-01 3.47811027e+02] [-2.28472378e-01 9.71883008e-01 -5.69542812e-02 2.22805318e+02] [ 1.33955923e-01 8.93280658e-02 9.86953042e-01 5.91047439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.060281693 meters SLAMing on 471.120281693 meters Centerline goodness : 0.772586 with order 3 Centerline is valid? [False, False] Translation: X:347.82, Y:222.82, Z:5.91 [[ 9.64819562e-01 2.16611553e-01 -1.49005532e-01 3.47815332e+02] [-2.27365301e-01 9.72009723e-01 -5.91787055e-02 2.22815907e+02] [ 1.32016034e-01 9.09754602e-02 9.87063945e-01 5.90639401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.180281693 meters Centerline goodness : 0.773465 with order 3 Centerline is valid? [False, False] Translation: X:347.82, Y:222.82, Z:5.90 [[ 9.64890381e-01 2.16676311e-01 -1.48451771e-01 3.47818639e+02] [-2.27501182e-01 9.71921668e-01 -6.00956140e-02 2.22821819e+02] [ 1.31262197e-01 9.17586333e-02 9.87091986e-01 5.90477588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.240281693 meters Centerline goodness : 0.764580 with order 3 Centerline is valid? [False, False] Translation: X:347.82, Y:222.82, Z:5.90 [[ 9.64899222e-01 2.16676418e-01 -1.48394139e-01 3.47819536e+02] [-2.27539781e-01 9.71892155e-01 -6.04258845e-02 2.22823283e+02] [ 1.31130235e-01 9.20704587e-02 9.87080489e-01 5.90430991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.30028169299993 meters Centerline goodness : 0.762369 with order 2 Centerline is valid? [False, False] Translation: X:347.82, Y:222.83, Z:5.90 [[ 9.64961442e-01 2.16736355e-01 -1.47901208e-01 3.47820332e+02] [-2.27618909e-01 9.71842934e-01 -6.09175229e-02 2.22825208e+02] [ 1.30533702e-01 9.24481722e-02 9.87124252e-01 5.90372930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.36028169299993 meters Centerline goodness : 0.726055 with order 3 Centerline is valid? [False, False] Translation: X:347.82, Y:222.83, Z:5.90 [[ 9.66084720e-01 2.11909517e-01 -1.47562428e-01 3.47821272e+02] [-2.23298276e-01 9.72563241e-01 -6.52581163e-02 2.22828077e+02] [ 1.29684977e-01 9.59953048e-02 9.86897517e-01 5.90207047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.42028169299994 meters Centerline goodness : 0.731372 with order 3 Centerline is valid? [False, False] Translation: X:347.83, Y:222.83, Z:5.90 [[ 9.66785392e-01 2.07722996e-01 -1.48919990e-01 3.47833002e+02] [-2.19660892e-01 9.73160872e-01 -6.86076442e-02 2.22825738e+02] [ 1.30671722e-01 9.90407660e-02 9.86466334e-01 5.89519844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.48028169299994 meters Centerline goodness : 0.719443 with order 2 Centerline is valid? [False, False] Translation: X:347.84, Y:222.82, Z:5.89 [[ 9.67245972e-01 2.05205863e-01 -1.49418151e-01 3.47841526e+02] [-2.17474293e-01 9.73491926e-01 -7.08406783e-02 2.22823905e+02] [ 1.30920441e-01 1.01014968e-01 9.86233144e-01 5.89000370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.54028169299994 meters Centerline goodness : 0.479481 with order 2 Centerline is valid? [False, False] Translation: X:347.84, Y:222.82, Z:5.89 [[ 9.67275307e-01 2.05572891e-01 -1.48722114e-01 3.47843712e+02] [-2.17752799e-01 9.73440221e-01 -7.06955049e-02 2.22821826e+02] [ 1.30239008e-01 1.00766673e-01 9.86348761e-01 5.88755395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.60028169299994 meters Centerline goodness : 0.697371 with order 3 Centerline is valid? [False, False] Translation: X:347.84, Y:222.82, Z:5.89 [[ 9.67265110e-01 2.05973143e-01 -1.48233843e-01 3.47844701e+02] [-2.18136213e-01 9.73337328e-01 -7.09298181e-02 2.22823964e+02] [ 1.29671895e-01 1.00943107e-01 9.86405438e-01 5.88732828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.66028169299994 meters Centerline goodness : 0.679473 with order 3 Centerline is valid? [False, False] Translation: X:347.85, Y:222.82, Z:5.88 [[ 9.66825971e-01 2.08550796e-01 -1.47492740e-01 3.47851471e+02] [-2.20426718e-01 9.72946191e-01 -6.91937294e-02 2.22823057e+02] [ 1.29072092e-01 9.94096350e-02 9.86639812e-01 5.88264006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.72028169299995 meters Centerline goodness : 0.640856 with order 3 Centerline is valid? [False, False] Translation: X:347.86, Y:222.82, Z:5.88 [[ 9.67089269e-01 2.07686982e-01 -1.46984565e-01 3.47856670e+02] [-2.19639812e-01 9.73050561e-01 -7.02207838e-02 2.22820688e+02] [ 1.28439471e-01 1.00193429e-01 9.86643086e-01 5.87827981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.78028169299995 meters Centerline goodness : 0.643408 with order 3 Centerline is valid? [False, False] Translation: X:347.86, Y:222.82, Z:5.88 [[ 9.67105773e-01 2.07934474e-01 -1.46525353e-01 3.47859185e+02] [-2.19828832e-01 9.73015154e-01 -7.01198650e-02 2.22820300e+02] [ 1.27991052e-01 1.00023823e-01 9.86718564e-01 5.87671074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.84028169299995 meters Centerline goodness : 0.506158 with order 3 Centerline is valid? [False, False] Translation: X:347.89, Y:222.82, Z:5.87 [[ 9.67661171e-01 2.10381829e-01 -1.39180975e-01 3.47894062e+02] [-2.22167630e-01 9.72101943e-01 -7.52286981e-02 2.22817382e+02] [ 1.19471346e-01 1.03717397e-01 9.87405337e-01 5.86812382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.90028169299995 meters Centerline goodness : 0.501867 with order 3 Centerline is valid? [False, False] Translation: X:347.93, Y:222.81, Z:5.85 [[ 9.67829765e-01 2.14770224e-01 -1.31069818e-01 3.47926759e+02] [-2.25994810e-01 9.71029537e-01 -7.76400887e-02 2.22813269e+02] [ 1.10597886e-01 1.04763487e-01 9.88328245e-01 5.85114108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.96028169299996 meters Centerline goodness : 0.473642 with order 2 Centerline is valid? [False, False] Translation: X:347.95, Y:222.81, Z:5.83 [[ 9.69183809e-01 2.12968732e-01 -1.23802514e-01 3.47949611e+02] [-2.23798894e-01 9.71243569e-01 -8.12402938e-02 2.22812403e+02] [ 1.02940753e-01 1.06443643e-01 9.88975709e-01 5.82540691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.02028169299996 meters Centerline goodness : 0.483877 with order 2 Centerline is valid? [False, False] Translation: X:347.96, Y:222.81, Z:5.82 [[ 9.69823699e-01 2.09547153e-01 -1.24627382e-01 3.47957344e+02] [-2.20776187e-01 9.71677575e-01 -8.42648562e-02 2.22813448e+02] [ 1.03440172e-01 1.09236813e-01 9.88618961e-01 5.82157412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.08028169299996 meters Centerline goodness : 0.464152 with order 2 Centerline is valid? [False, False] Translation: X:347.99, Y:222.81, Z:5.81 [[ 9.71656946e-01 2.05450088e-01 -1.16931778e-01 3.47994855e+02] [-2.15838234e-01 9.72778977e-01 -8.43499808e-02 2.22807070e+02] [ 9.64190644e-02 1.07197593e-01 9.89551434e-01 5.80891159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.14028169299996 meters Centerline goodness : 0.372131 with order 2 Centerline is valid? [False, False] Translation: X:348.04, Y:222.80, Z:5.80 [[ 9.72810526e-01 2.02413233e-01 -1.12554716e-01 3.48043215e+02] [-2.12515216e-01 9.73333034e-01 -8.63718004e-02 2.22797585e+02] [ 9.20704283e-02 1.07942986e-01 9.89884512e-01 5.80471573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.20028169299997 meters Centerline goodness : 0.479573 with order 1 Centerline is valid? [False, False] Translation: X:348.05, Y:222.79, Z:5.80 [[ 9.74230498e-01 1.94892438e-01 -1.13542389e-01 3.48051252e+02] [-2.05586918e-01 9.74345972e-01 -9.15638895e-02 2.22794346e+02] [ 9.27844602e-02 1.12547164e-01 9.89304897e-01 5.79943668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.26028169299997 meters Centerline goodness : 0.464123 with order 2 Centerline is valid? [False, False] Translation: X:348.06, Y:222.79, Z:5.79 [[ 9.74835163e-01 1.91318318e-01 -1.14427730e-01 3.48057832e+02] [-2.02350782e-01 9.74784294e-01 -9.40730586e-02 2.22788156e+02] [ 9.35444546e-02 1.14860266e-01 9.88967418e-01 5.79442755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5113.59 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%| | 0/15744 [00:00